融合道路曲率信息的智能驾驶车辆路径跟踪控制

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引用格式：，，，等.融合道路曲率信息的智能驾驶车辆路径跟踪控制[J].现代电子技术，2026，49（7）：111-119.

关键词：智能驾驶车辆；变论域模糊系统；五次多项式；积分滑模控制；速度规划；路径跟踪；道路曲率中图分类号：TN911.7-34；TP273 文献标识码：A 文章编号：1004-373X（2026）07-0111-09

Intelligent driving vehicle path tracking control based on road curvature information fusion

SHU Shen'ao， LIAO Daozheng， YANG Rongji， DONG Peng （CollgeofElectricalEngineeringandNewEnergy，ChinaThreeGorgesUniversity，Yichang443o02，China）

Abstract：The trajectorytracking deviation increasesandthedriving stabilitydecreases when theinteligent driving vehicle entersthecurvature mutationcurveathighspeed，sothispaperproposesanadaptiveverticalandhorizontalpathtracking strategybasedonthechangeofroadcurvature.Firstly，thevehicledynamicsmodelandthepreview tracking modelincluding roadfeaturesareconstructed.Secondly，nviewofthefactthatthepreviewdistanceisfixedinthetraditionalerormodel，a variableuniversefuzzystrategyisdesignedtoadjustthepreview distanceinrealtimeaccording tothechangeofroadcurvature andvehiclespeed.Then，theintegralsliding modecontrolalgorithmisusedtodesignthelateralcontrolerofthevehicle，nd thelongitudinalspeedadjustmentstrategyof thevehicleisdesignedbyusingthequinticpolynomialonthebasisoftheroad curvatureinformation.Finaly，thejointsimulationof Matlab/SimulinkandCarsimundertheconditionoflargecurvaturedouble shift lineiscarriedout.Theexperimentsshowthatinthepathtracking procss，the proposedcontrolstrategycanadaptively adjustthepreviewdistanceparametersaccordingtotheroadcurvaturechangeandreal-timevehiclespeed，soastoimprovethe vehicle path tracking accuracy and dynamic driving stability and guarantee the safety of vehicle driving.

Keywords：intellgent driving vehicle;variableuniversefuzzysystem;quinticpolynomial; integral sliding modecontrol; speed planning;path tracking;road curvature

0 引言

由于在提升车辆主动安全性、改善交通效率以及降低能耗等方面具有巨大潜能，智能驾驶技术已经成为当前汽车行业的研发热点1-2]。（剩余9139字）