面向城市非结构化路况的智能车辆驾驶行为控制研究-机械电子工程专业毕业论文.docx

西安理 西安理工大学硕士学位论文 Ab Abstract II II I I Title: THE RESEARCH ON THE COMPLETELY AUTONOMOUS POSITIONING NAVIGATION TECHNOLOGY OF MOBILE ROBOT UNDER UNKNOWN ENVIRONMENT2 Major：Mechatronic Engineering Name：Hao Lin Signature: Supervisor：Prof.Weiping Fu Signature: Abstract With the rapid development of technology, the research on intelligent vehicle has become an important topic of many major domestic, foreign automobile enterprises and high-tech companies. The key problem of driving safety and path tracking stability must be solved in the process of the development of intelligent vehicle. Firstly, according to the requirements of intelligent vehicle driving on the unstructured road, we designed the control system structure that would be the basic of typical driving behavior and path tracking; analyzed the typical driving behavior included following, lane changing, overtaking; obtained the safety distance of following and lane changing, and designed the following algorithms, using the way based on polynomial to design the trajectory planning. The overtaking is divided into three stages to analysis. At last, this paper verified the effectiveness of all algorithm in Simulink. Secondly, we adopt the method combined fuzzy control and traditional PID control to track the path. The controller used error variation and error rate of the heading angle as input, and output the front wheel angle, then completed the path tracking. At last, I finished the path tracking simulation of lane changing, the result showed that the algorithm can track the target path. Lastly, we had designed the intelligent vehicle drive system control software, tested the maximum output of steering angle and completed the test of fuzzy PID steering control algorithm in steering operation control. Key words: Intelligent vehicle；Safety driving；Following；Lane changing； 2 Supported by the National Natural Science Fund Project （No.and the National Key Disciplines in Colleges and Universities in Shann