Research And Experiment On Vehicle Lateral Control In Intelligent Highway System

Based on the communication,monitoring and controlling system,optical fiber network and other infrastructures,Intelligent Highway System (IHS) is an auto-operation platform,which provides automatic test on the safety of vehicles,releases information and carries out real-time and automatic operation. IHS can offer more safe,economy,comfortable and fast service to the road transportation.The vehicle control is an important part of IHS,which includes lateral control and longitude control. Lateral control is about steering wheel servo-mechanism,which can make automated vehicle running on the planned routine automatically. Longitude control is the control on the running speed and the start and brake of vehicles.Lateral control is mainly researched in this paper. Magnetic marker buried in the road can be used as navigation signals,this signals are collected by build-in-vehicle sensor and are sent to the build-in-vehicle computer,the computer processed and sent instruction or command,automatic running of driverless vehicles can be realized by the steering wheel servo mechanism which connects with step motor.In order to realize automatic running of vehicles,software system and hardware platform of control system were developed independently in the test. It includes the designing of magnetic marker and sensor,servo- mechanism system and control program. The whole control system is introduced and the parameters and working principle of the build-in-vehicles sensor developed independently are discussed with emphasis. Some filter and amplifier circuits used to dispose the disturb signals were designed in experiments. Last the steering wheel servo-mechanism developed by Beijing Jeep Limited Corporation is also introduced.After lots of field experiments,the hardware and software were improved to realize the lateral control of vehicles according to the field experiment data.