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標題: | 基於LQG控制與前看系統方法的自動駕駛車輛路徑追隨控制系統 Path Tracking Control System for Autonomous Vehicle Based on LQG Control and Look-Ahead Approach |
作者: | Wen-Jun Xia 夏文駿 |
指導教授: | 李綱 |
關鍵字: | 路徑追隨,車道跟隨,線性二次高斯, Path Tracking,Lane Following,Linear Quadratic Gaussian, |
出版年 : | 2020 |
學位: | 碩士 |
摘要: | 本研究的目的是要提出一套用於自動駕駛車輛的路徑追隨控制系統,能夠引導車輛沿著指定的路徑行駛。本論文首先探討車輛運動與路徑追隨控制誤差間的幾何關係來推導出前看系統,接著建立由車輛側向動態與前看系統結合而成的路徑追隨控制系統模型,並使用LQG (Linear Quadratic Gaussian) 控制理論設計控制器。為了保證控制系統具有良好的強健性,採用迴路轉移函數回復(LTR)方法來設計LQG控制器中的卡爾曼濾波器。此外,還加入前饋控制器來補償路徑曲率對控制系統的干擾,提升系統的路徑追隨性能。
最後本研究透過車輛模擬軟體CarSim來驗證設計出的控制系統在等速定圓迴轉測試、ISO 3888-2測試等不同測試情境下的性能表現。根據模擬結果顯示,本研究提出的路徑追隨控制系統具有良好的穩態響應與暫態響應。 The purpose of the research is to present a path tracking control system for autonomous vehicle which guides the vehicle to follow a specified path. First, we investigate the geometric relationship between vehicle motion and path tracking error to derive the look-ahead system and design the path tracking controller based on the LQG (Linear Quadratic Gaussian) design procedure and the system model established by combining vehicle lateral dynamics and the look-ahead system. The Loop Transfer Recovery (LTR) technique is applied to design the Kalman filter within the LQG controller in order to guarantee robustness of the control system. Furthermore, a feedforward controller is used to compensate the disturbance contributed by the path curvature and improve the path tracking performance. To verify the control performance of the proposed controller, we conduct several tests with vehicle dynamics simulation software (CarSim) in different test scenarios such as Constant Radius Constant Speed test and ISO 3888-2 test. The results of the simulations show that the proposed controller has decent characteristics of both transient and steady-state responses. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/63504 |
DOI: | 10.6342/NTU202000756 |
全文授權: | 有償授權 |
顯示於系所單位: | 機械工程學系 |
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