摘要
Path following refers to traveling along the desired path with automatic steering control,which is a crucial technology for automatic driving vehicles.Roads in private areas are highly irregular,resulting in a large curvature variation,which reduces the control accuracy of the path following.A curvature adaptive control(CAC)based path-following method was proposed to solve the problem mentioned above.Specifically,CAC takes advantage of the complementary characteristics in response to the path curvature fluctuation of pure pursuit and front-wheel feedback and by combining the two methods further enhances the immunity of the control accuracy in response to a curvature fluctuation.With CAC,the quantitative indices of the path curvature fluctuation and control accuracy were constructed.The model between the path curvature fluctuation and a dynamic parameter was identified using the quantitative index of the control accuracy as the optimization target.The experimental results of a real vehicle indicate that the control accuracy of path following is further enhanced by its immunity in response to curvature fluctuation improved by the CAC.In addition,CAC is easy to deploy and requires low demand for hardware resources.
作者
SHI Qiang
ZHANG Jianlin
YANG Ming
师强;张建林;杨明(Department of Automation,Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China)
基金
the National Natural Science Foundation of China(No.U1764264)。
