基于智能模糊控制的汽车自动驾驶系统

:2004-05-28:(1958),,,,1,2,1(1.,410076;2.,410076):,GPSMATLAB,:;;;MATLAB:TP273+.5:A:1005-3751(2004)12-0019-02TheSystemofAutomaticDriveBasedonIntelligentFuzzyControlWANGYing2jian1,WANGYu2feng2,FANBi2shuang1(1.SchoolofElectricandInformationEng.,ChangshaUniv.ofSci.andTechn.,Changsha410076,China;2.SchoolofComputerandCommunicationEng.,ChangshaUniv.ofSci.andTechn.,Changsha410076,China)Abstract:Amethodbasedonintelligentfuzzycontrolispresentedinthispaperforthecomplicatedsystemofautomaticdrive.Itcanmakethecardriveautomaticallytothedefineddestinationoranychosenposition.Thevalueofcoordinateforthepresentpositionandthedesti2nationofcarcanbeobtainedfromtheGPS.ThesimulationofthesystemiscarriedoutwithMATLAB,andtheresultissatisfactory.Keywords:automaticdrive;fuzzycontrol;GPS;MATLAB01994(GPS),GPS,GPS,GPS2090,,GPS,,GPS[1],,,;,[2],,,,,,,,11.1,,,,GPS,,1,(x,y,),(x),(,,,-/2/2),,xy1412200412MicrocomputerDevelopmentVol.14No.12Dec.200411.22,ŠP;P;xy;d,d=x2+y2;21.3Sugeno[3],D,1,2,D,nearfar,ZS,33,:(1)Ifdistanceisnear,then=1(2)Ifdistanceisfar,then=21=-3+2;2=1/83x+;-/2/2,,/21.4,,[4]:=-vltanx=-vcosy=-vsin,v,l4,xy45MATLAB(23)0214()2.3Inspeck,,,,,,,,,Inspeck:,;;,783,,,,,,,,:[1].[J].,1997,(3):85-90.[2].[D].:,2003.[3],.[A].[C].:,2000.[4]FastScanTMHandheldLaserScannerUserMannul[Z].POL2HEMUSCor,2003.[5],.Inspeck3D-DF[J].,2002,(16):237-239.[6]InSpeckFAPSFringeAcquisitionandProcessingSoftwareVersion6.0UsersGuide[Z].InSpeckinc,2002.[7]InSpeckFAPSFringeAcquisitionandProcessingSoftwareVersion6.0Tutorial[Z].InSpeckinc,2002.[8]InSpeckEM3DModeling,EditingandMergingSoftwareVersion4.0UsersGuide[Z].InSpeckinc,2002.[9]InSpeckEM3DModeling,EditingandMergingSoftwareVersion4.0Tutorial[Z].InSpeckinc,2002.[10]InSpeckEM3DModeling,EditingandMergingSoftwareVersion4.0AdvancedFeaturesTutorial[Z].InSpeckinc,2002.(20)2MATLAB6.5[5],5,663,MATLAB,,,:[1]KaplanED.UnderstandingGPSPrincipleandApplication[M].:,2002.[2].[M].:,1999.[3],,,.MATLAB[M].:,2002.[4].[J].,2000,(3):156-160.[5],,.MATLAB[M].:,2001.3212: