Low Speed Control of an Autonomous Vehicle by Using a Fractional PI Controller
Low Speed Control of an Autonomous Vehicle by Using a Fractional PI Controller
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使用分数 PI 控制器对自动驾驶车辆进行低速控制
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
B. Vinagre
中科院分区：
文献类型：
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作者：
I. Tejado;V. Milanés;J. Villagra;Jorge Godoy;Hassan HosseinNia;B. Vinagre
摘要 高度非线性的车辆动力学在自动驾驶系统中发挥着重要作用，特别是在低速拥堵的交通情况下。因此，需要精确的控制器来确保导航过程中的安全。本文重点介绍分数 PIα 控制器的设计和实验实现，以解决雪铁龙自动驾驶原型车的低速控制问题。在自动化和机器人中心设施的真实电路上使用真实车辆进行的低速实验测试表明了所提出的控制器的有效性。
Abstract Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. This paper focuses on the design and experimental implementation of a fractional PIα controller for the low speed control problem in an autonomous prototype Citroen vehicle. Experimental tests at low speeds, obtained with a real vehicle on a real circuit at the Center for Automation and Robotics facilities, show the effectiveness of the proposed controller.