| 基于动态目标位置的智能车辆动态避障控制研究 |
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| 引用本文： | 于少伟,曹凯.基于动态目标位置的智能车辆动态避障控制研究[J].计算机工程与应用,2008,44(26):242-245. |
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| 作者姓名： | 于少伟 曹凯 |
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| 作者单位： | 山东理工大学 交通与车辆工程学院，山东 淄博 255049 |
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| 摘 要： | 为了真实地模拟驾驶员在动态环境中避让动态障碍物的行为方式，提出了动态目标位置概念，并采用三次样条曲线作为动态避障的路径拟合曲线。以模糊逻辑为控制策略，以T-S模糊模型为控制结构，以自适应神经网络为隶属度函数的参数调整手段，设计出一种智能车辆横向运动控制器，并通过计算机仿真实现。结果表明，基于动态目标位置概念的控制器设计具有较好的控制性能，较为理想地模拟实际交通环境中车辆动态避障的特性。
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| 关 键 词： | 智能车辆 动态目标位置 动态避障 动态目标跟踪 |
| 收稿时间： | 2007-11-6 |
| 修稿时间： | 2008-2-18
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Research on intelligent vehicle moving obstacle avoidance control using dynamic target position concept |
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| YU Shao-wei,CAO Kai.Research on intelligent vehicle moving obstacle avoidance control using dynamic target position concept[J].Computer Engineering and Applications,2008,44(26):242-245. |
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| Authors: | YU Shao-wei CAO Kai |
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| Affiliation: | School of Transportation and Automobile Engineering，Shandong University of Technology，Zibo，Shandong 255049，China |
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| Abstract: | In order to simulate truthfully behavior pattern of driver in moving obstacle avoidance in a dynamic environment,this paper proposes a dynamic target position concept,and employes cubic spline curves as path fitting curves of moving obstacle avoidance.In this paper,a lateral controller of vehicle is designed by using the fuzzy logic as a control strategy,the T-S fuzzy model as its structure and an adaptive neural network as a means of adjusting membership function.The simulation result shows that the designed controller based on dynamic target position can simulate well moving obstacle avoidance characteristic of vehicle in actual traffic situation. |
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| Keywords: | intelligent vehicles dynamic target position moving obstacle avoidance dynamic target tracking |
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