关键词: 反馈控制, 路径跟踪, 视觉导航, 预瞄控制, 智能车辆

Abstract: The vision-guided intelligent vehicle acquires the road information by machine vision, and follows the road automatically. Ordinary feedback control only uses the present road information, so the intelligent vehicle can hardly work efficiently in complicated or emergent conditions. By previewing the on-line acquired road information, future navigation information can be utilized in order to improve safety and efficiency. So road information is classified into present information and future information, and they can be used in feedback and preview respectively. A preview-feedback controller is designed. The controller can automatically adjust the preview distance and the vehicle speed according to the previewed road, so tracking accuracy and driving stability can be improved. The simulation and experiments show that this controller has better accuracy and stability than the ordinary feedback controller.

Key words: Feedback control, Intelligent vehicle, Preview control, Road following, Vision-guided navigation