The Research Of Steering Control For Autonomous Vehicle

With the development of modern science and technology, autonomous vehicle has become a new research hotspot. It is the direction of future development of automobile industry, which can greatly improve the security of the transportation system. The autonomous vehicle is an integrated system including a series of technologies, such as situational awareness, navigation, localization, path planning and behavioral decision control technology. It makes use of a variety of on-board sensors to sense its surroundings, and to find an optimal real-time driving path according to the perceptual information, to manage the speed and steering control of the vehicle, and to realize the safe, effective and reliable driving.Steering motor control of the autonomous vehicle is one of the key technologies to realize autonomous drive. This thesis describes a design of underlying hardware control system of the autonomous vehicle, using a16bit PIC24MCU as control core. It realizes the communication among hardware system, car and the host computer via the CAN bus technology, and an in-depth research of the steering unit is carried out. On the hardware control side, a more detailed circuit of steering motor control is given.On the software control side, combined with fuzzy algorithm and PID control technology, fuzzy control rules are established based on fuzzy control theory. After fuzzy reasoning and the clarifications, PID controller’s parameters are real-timely corrected. And then the control of steering motor based on the fuzzy adaptive PID is completed, a specific flow graph of software control is given and Matlab software is also used to carry on the modeling and simulation. Finally, our design is tested with the autonomous vehicle in wuhan university, the result shows that this design can achieve fast, accurate and smooth steering, which meets the demand of autonomous vehicle steering.