关键词: 汽车, 驾驶机器人, 车速跟踪, 轨迹跟踪, 多模式切换控制

Abstract: In order to realize the accurate speed and trajectory tracking under different driving conditions, a multi-mode switching control method for robot driven vehicle is proposed. Through analyzing the manipulation of robot driver on the movements of pedals and steering wheel in an automatic transmission vehicle, the kinematic models of the mechanical legs for acceleration and braking and the mechanical manipulator for steering wheel of robot driver and the longitudinal and lateral kinetic models of vehicle are established. On this basis, the switching controllers for acceleration and braking mechanical legs, fuzzy PID/fuzzy PID+Bang-Bang speed switching controller and fuzzy PID/fuzzy PID+Bang-Bang steering switching controller are designed. In them, the switching controllers for acceleration and braking mechanical legs take target vehicle acceleration as switching rule to achieve coordinated control of acceleration and braking mechanical legs, the speed switching controller takes speed error as the criteria for the mode decision making of Bang-Bang controller and the input of fuzzy PID controller, while the steering switching controller takes the lateral error of trajectory tracking as the mode decision making input of Bang-Bang controller and takes the yaw rate difference between current and next control moment as the input of fuzzy PID controller. The results of simulation and test verify the effectiveness of the method proposed

Key words: vehicle, robot driver, speed tracking, trajectory tracking, multi-mode switching control