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Abstract: According
to the nonlinear and time-varying characteristics of vehicle dynamics
and driver’s behavior characteristic, a novel algorithm of vehicle
direction preview adaptive proportional-derivative (PD) control is
proposed based on preview-follower theory, and this approach’s
feasibility and validity are verified with the simulation and field
experiment. In the algorithm, an first-order linear reference model is
established to approximatively describe vehicle direction dynamics
characteristic, and the parameters of this reference model’s transfer
function were identified on-line; then the parameters of PD controller
are self-tuning based on the structure of optimal preview-follower. This
algorithm can control vehicle to follow the anticipate trajectory well,
the robustness and adaptivity are also improved because of the adaptive
control algorithm, and provide an applicable way to the research of
intelligent vehicle.
Key words: Intelligent
vehicle Direction Preview follower Adaptive PD control
CLC No: U270
高等学校骨干教师资助计划资助项目(GG-580-10183-1995).
Received 20030520, received in revised form 20030918
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