关键词: 路径跟踪控制, 神经网络, 模糊 PID, 横向动力学模型

Abstract:  Aiming at the characteristic that the vehicle is more prone to instability in the snow and ice environment, the stable tracking problem of the vehicle to the reference trajectory under the low adhesion and uneven distribution condition of the road surface is studied. To address this, a fuzzy PID(Proportional-Integral- Differential) controller model based on neural network regulation and MPC ( Model Predictive Control ) a linearized vehicle model are designed. The controller takes the road adhesion coefficient and vehicle speed as input to construct a BP(Back-Propagation)neural network and outputs the adjustment coefficient to optimize the control performance of the PID controller. A ten-degree-of-freedom model is designed to characterize the dynamic characteristics of the vehicle in snow and ice-covered environments, and the lateral stability control of the vehicle is realized by using MPC. CarSim / Simulink is used for co-simulation experiments. Results show that the controller can significantly improve the performance of vehicle trajectory tracking. The dynamic characteristics of the vehicle under snow and ice are analyzed, and good simulation results are obtained.

Key words:  ')">

 , trajectory tracking control, neural network, fuzzy proportional-integral-differential ( PID), lateral dynamic mode