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。
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.
出处
《计算机工程与应用》
CSCD
北大核心
2008年第26期242-245,共4页
Computer Engineering and Applications
关键词
智能车辆
动态目标位置
动态避障
动态目标跟踪
intelligent vehicles
dynamic target position
moving obstacle avoidance
dynamic target tracking
