The Design And Research Of Unmanned Intelligent Vehicle Control System

Combined with modern high-tech and automotive technology, the unmanned vehicle plays an important role in intelligent transportation in the future. At present the research scholars mainly focus on the independent control of the unmanned vehicle. It has achieved safe driving which is guided by vehicle-mounted radar, GPS, inertial navigation, and central control system. The central control system is based on the detected traffic information to send all kinds of instruction like forward, acceleration, steering, avoidance, braking and so on to the executing agency and the executing agency will complete the corresponding operations.First of all, the paper has established two degree of freedom dynamics model. After describing the path tracking problem in kinematics and geometry, we find the relationship between deviation and dynamics course, and analysis the relationship between the geodetic coordinate and vehicle location. So we put forward alternate position and posture control strategies and design alternate position and posture controller.We have completed the lateral vehicle control system design. Combined with longitudinal motion equation and the vehicle braking characteristic equation, we have designed the longitudinal control system and come up with fuzzy PID control strategy. Aiming at different vehicle steering output case controls the output speed finally realizes the intelligent unmanned vehicle longitudinal speed changing smoothly.Later, according to the design requirements of the longitudinal control, lateral control unit structure and each unit, we have made a thorough study of each unit module and completed the hardware design, installation and debugging of the lateral control system and the longitudinal control system. At last, we establish the unmanned vehicle CAN bus communication platform, develop independently the unmanned vehicle monitoring interface, and write the unmanned vehicle software program; steering control, speed control, voltage, current, velocity and angular velocity collecting of the unmanned vehicle steering have been tested. The experimental results show that the unmanned intelligent vehicle control system can meet the requirements to control the unmanned vehicle. Whether the given expected path is a straight line or a curve one, the unmanned vehicle can completely rapidly, stablely and accurately be tracked and controlled.