南通大学学报（自然科学版）

路径跟随控制是汽车实现自动驾驶的重要工具,已在前轮转向汽车上取得了较好的效果,但是前轮转向汽车的路径跟随控制不完全适用于四轮转向汽车.对此,基于横向误差,提出一种四轮转向汽车路径跟随模糊控制算法.首先,建立响应面模型作为优化目标函数.然后,利用遗传算法对模糊控制器进行优化设计.最后,通过Carsim-Simulink联合仿真实验,对该算法进行验证.仿真结果表明,路径跟随横向误差得到有效降低,车身质心侧偏角也控制在0.6°以内.该算法能够实现精准的路径跟随,并提高汽车的操纵稳定性.

The path following control is an important part of self-driving vehicle control system. It has achieved good results in the front-wheel steering vehicle, but the front-wheel steering is not fully applicable to the four-wheel steering vehicle. Based on the lateral error, a four-wheel steering vehicle path following control with fuzzy controller is put forward. The response surface model is established as the optimization objective function, then genetic algorithm is used to optimize the fuzzy controller. Finally, Carsim-Simulink joint simulation is used. The result shows that the path following lateral error can be controlled within 15 cm and the center of mass side deflection of the body can be controlled within 0.6 degree. It is proved that the algorithm can achieve accurate path following and improve the vehicle operation stability.