无人驾驶车辆路径跟踪的增量式PID控制

摘要

为了实现无人驾驶车辆沿着预设路径安全稳定行驶,基于车辆实际位置和给定位置的坐标关系,建立了无人驾驶车辆的路径跟踪模型;分析车辆当前位置及航向信息与目标路径的偏差,提出误差带内外分状况的控制策略;通过改进和优化传统增量式比例积分微分控制(PID控制)算法,提出了一种新型增量式PID控制算法.实验结果表明:改进后的增量式PID算法相较于传统增量式PID算法,无人车路径跟踪的上升时间、调整时间均减小,响应速度加快,超调量减小,车辆实现快速稳定的路径跟踪.%To make the unmanned vehicle follow the planned route with security and stability,based on the relationship between the actual position and the given position,path tracing model for unmanned vehicle is established.The deviation between actual position and the given course is analyzed.The different control strategies for inner or outer the error band is designed.By improving and optimizing the traditional incremental PID control algorithm,a novel PID algorithm is put forward.Test results show:The improved PID algorithm makes the rise time and the adj ust time of path tracking system of unmanned vehicle shorter,response speed faster,overshoot volume decreased,and performance better,compared with the traditional incremental PID algorithm.The vehicle achieves fast and stable path tracking.