An Intelligent Control System For Autonomous Land Vehicle

This dissertation has researched on the intelligent control system for Autonomous Land Vehicle from three aspects: architecture, design and practice.A four-layer hierarchical intelligent control architecture is proposed for Autonomous Land Vehicle control in this dissertation. According to its environment characteristics, time span and space range, a task is hierarchically decomposed into five levels. These levels are task, sub-task, behavior, planned trajectory, and action. Four layers of the architecture are used to accomplish the mapping between these five levels. Profiting from its characterizes of multi-resolution on time and space, this control architecture can ensure system's control period in real-time and control precision.Three overall performance indexes of Autonomous Land Vehicle control system are discussed, which are vehicle safety, passenger comfort and driving efficiency. The dissertation has discussed how to use these performance indexes to guide analysis and synthesis for control system. The dissertation has also discussed the analysis and synthesis problem of control system from the relationship between environments perception system and driving control system.Aiming at two-lane freeway, some main control system algorithms of Autonomous Land Vehicle are investigated: Firstly, an expected utility based behavior decision-making algorithm is put forward; Secondly, a behavior-planning algorithm is constructed; And thirdly, a path-tracking algorithm and a speed-tracking algorithm are designed, which have improved the disturbance rejection performance and control precision of system.As verification, The HONGQI Autonomous Land Vehicle and its experiment are introduced.