Lateral and Longitudinal Cooperative Control of Unmanned Vehicles by Integrating Stanley and Fuzzy PID
A lateral and longitudinal cooperative control algorithm of unmanned vehicles by integrating Stanley and fuzzy PID was proposed.The lateral control strategy adopted the adaptive Stanley algo-rithm,which adjusted the gain parameters according to the change of road curvature and solved the in-fluence of the gain coefficient on the tracking accuracy of the Stanley algorithm.The longitudinal con-trol strategy adopted the fuzzy PID control,which adjusted the PID parameters through fuzzy inference rules so that the vehicle could quickly track the desired speed.CarSim and MATLAB/SimuLink were used to carry out simulation experiments on the lateral and longitudinal cooperative control method.The experimental results show that compared with that of the Stanley algorithm,the maximum position error of the proposed algorithm is reduced by 80%at a constant speed,and the maximum heading error is re-duced by 50%.In terms of longitudinal control,the fuzzy PID control can more stably track the desired speed than the PID controller.
trajectory trackinglateral and vertical cooperative controlco-simulation
万方数据
维普
