Novel approach on smart steering control of obstacle avoidance

XIN Jiang-hui; LI Shun-ming; SHEN Huan

doi:10.13873/j.1000-97872009.03.036

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Novel approach on smart steering control of obstacle avoidance

更新时间：2025-09-11

- Novel approach on smart steering control of obstacle avoidance
- Vol. 28, Issue 3, Pages: 63-66(2009)
- 作者机构：
  
  南京航空航天大学能源与动力学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872009.03.036
  CLC： TP242.6
- Published：2009
- 稿件说明：
移动端阅览
[1]辛江慧,李舜酩,沈峘.一种新的智能避障转向控制方法[J].传感器与微系统,2009,28(03):63-66.

XIN Jiang-hui, LI Shun-ming, SHEN Huan. Novel approach on smart steering control of obstacle avoidance[J]. 2009, 28(3): 63-66.
[1]辛江慧,李舜酩,沈峘.一种新的智能避障转向控制方法[J].传感器与微系统,2009,28(03):63-66. DOI： 10.13873/j.1000-97872009.03.036.

XIN Jiang-hui, LI Shun-ming, SHEN Huan. Novel approach on smart steering control of obstacle avoidance[J]. 2009, 28(3): 63-66. DOI： 10.13873/j.1000-97872009.03.036.

摘要

针对智能探测车的转向系统建立精确的数学模型十分困难

且其航向受诸多因素干扰问题

研究了预测控制中的动态矩阵法

提出了一种新的智能探测车转向机构模型。该方法用障碍物的方向和距离偏差作为参数

在预测控制算法中采用动态矩阵控制

输出前轮转向角。再将转向角预测量与实际转向角之和作为反馈

对转向角变化趋势做出预测。通过仿真验证了在不同纵向速度下

加入相同干扰时的系统响应。结果表明:该算法在智能探测车障碍物避让控制中

对外界环境的干扰具有较强的鲁棒性

能够满足智能探测车转向控制要求。

Abstract

Aimd at the steering system of intelligent vehicle

the accurate mathematical model of the control system can hardly be constructed and disturbance of some factors is got.The dynamic matrix control is studied.The turning framework model of intelligent vehicle is proposed.The direction and the distance of obstacles are adopted as parameters of input

and output is turning angle.Forecast of turning angle and actual turning angle are acted as the feedback

and the change trend of turning angle is predicted.The response of the system is simulated and calculated in different velocity which the same disturbance is added.The result shows that this method has robustness to the interferer and it has good future in the engineering applications.

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references

四轮转向车辆控制及其硬件在环仿真开发平台 [J]. 陈南,殷国栋,李普,吕红明. 江苏大学学报(自然科学版) . 2005(05)

动态矩阵控制的鲁棒性分析及其参数调整方法 [J]. 罗中良,何惠玲,李先详,何乃淇. 兰州大学学报 . 2005(02)

预测控制系统及其应用[M]. 机械工业出版社 , 舒迪前编著, 1996

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Related Author

DUAN Jun

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Related Institution

State Key Laboratory of Industrial Control Technology,Institute of Industrial Process Control, Zhejiang University

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