Research And Implementation For Intelligent Longitudinal Control Of Autonomous Vehicles

With the development of the economics, the number of vehicles increases quickly, but the construction of roads can not follow its speed. So there is more and more attention paid on transportation problem. Automated Highway Systems (AHS) have been proposed by many researchers to increase road capacity and remove human element that affect traffic flow and may cause accident. AHS includes fully automated vehicles equipped with precise sensors and computer controlled systems, and the infrastructure manages the flow of traffic by using sensor technologies and control techniques, i.e. it is a road-vehicle synthesized system.This paper designs a model autonomous vehicle. Using fuzzy control algorithm, PID control algorithm and improved fuzzy control algorithm, the longitudinal control of autonomous vehicle is realized.In the paper, discrete variable universe fuzzy adaptive control is researched to control a class of discrete-time nonlinear system. Thus, the robust controller is supplied with more intelligence and fuzzy control is supplied with better robust performance. The proposed algorithm cannot only guarantee the stability of the closed-loop system, but also can limit the error intoε. Thus, the better control performance can be obtained.Accordding to the above algorithms, the paper has designed and done many related experiments. The conventional PID control method, fuzzy PD control and variable universe fuzzy control method is researched and applied to the vehicle control. The result is compared and the proposed methods are validated.