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1、DesignofaFuzzy-PIDLongitudinalControllerforAutonomousGroundVehicle12111XiaolongJin,ZhibaoSu,XijunZhao,JianweiGong,YanJiang12IntelligentVehicleResearchCenterChinaAcademyofOrdnanceScienceBeijingInstituteofTechnologyBeijing,ChinaBeijing,Chinahotlongjin@hotmail.com,bitszb@163
2、.com,heejun@bit.edu.cn,gongjianwei@bit.edu.cn,piuzuzu@gmail.comAbstract—AlongitudinalcontrollerforAutonomousGroundlogicwasusedtoadjustthethreeparametersofPID.InorderVehicle(AGV)wasdesignedinthispaper.Fuzzyalgorithmwastocontrolthethrottleandbrakeinharmony,aswitchcurveemplo
3、yedtoadjustthethreeparametersofPIDonlineforbetweenthrottleandbrakecontrolwasdesigned.reducingmodeldependence,soastomakethevehiclemaintainthedesiredspeed.AswitchstrategywasdesignedtocoordinateThispaperisorganizedasfollows.Thefollowingsectionthecontrolofthethrottleandbrakeb
4、ycalibratingthepresentedthehardwareconfigurationofthesystem.SectionIIIrelationshipbetweenthenaturedecelerationandspeed.introducedavehiclecontrolmodelandSectionIVdescribedExperimentalresultsonanAGVtestplatformdemonstratedthethelongitudinalcontroller.Theperformancesofroadte
5、stswereperformanceofthecontroller.giveninSectionV.SectionVIconcludedthispaper.Keywords-AGV;longitudinalcontrol;fuzzy-PID;switchII.HARDWARESTRUCTUREstrategyFig.1showstheschematicofthelongitudinalcontrollerhardwareusedinthispaper.ThehostcomputerisresponsibleI.INTRODUCTIONfo
6、rgeneratingthedesiredspeedcommandforvelocityAutonomousGroundVehicle(AGV)hasprofoundcontrollerbasedonthetaskoftheAGVandmonitoringthetheoreticalandpracticalsignificanceinIntelligentTransportcontrolsystemstatusforreal-timedisplay.InordertotracktheSystem(ITS)andUnmannedCombat
7、Platform(UCP)[1-2].desiredspeed,thevelocitycontrolleremploysacontrolAsafundamentalcomponentinAGVtechnologies,algorithmtocalculatetheacceleratorandbrakingvalue.Then,longitudinalcontrolkeepsthevehiclemovingatthedesiredtheacceleratorvaluewillbesendtotheengineelectronicspeedb
8、ycontrollingthrottleandbrakecoordinately.However,controlunit(ECU)viaavoltagesignalandthedesiredt
