The Research Of The Adaptive Control Of Obstacle Avoidance On The Four-Wheel Steering Intelligent Vehicle

The study of the intelligent vehicle had been committed to improve the safety, stability, flexibility and interactions between human and vehicle when car is running, it took the use of modern sensor technology to get the information of vehicle status and external environment, and made the decision to chose the way so as to realize the function of autonomous tracing and effective obstacle avoidance. The technology of four-wheel steering is to strengthen the vehicle handling stability in the high speed and improve the vehicle maneuverability in the low speed by joining the rear wheel auxiliary steering control in the process of vehicle steering.In this article it reaserched the adaptive control of obstacle avoidanc by combined with the technology of four-wheel steering and intelligent vehicle. First of all, it studied the general path planning method, based on this, the obstacle avoidance path planning problem advavced in this paper, and considering the different obstacle environment type, and the actual vehicle driving often encounter situation, the peper divided the obstacle avoidance environment into two broad categories. According to the actual driving concept and operation mode, and control the front and back angle from four-wheel steering technology, analysis and plan obstacle avoidance path for the corresponding environment respectively.Then the paper made the overall structural design to the obstacle avoidance adaptive controller based on the environment model classification and path planning, and using the technology of sensor information detection, draw and process the distance and edge information. Combined with four-wheel steering control system in different mode turning characteristics, determined the vehicle adaptive path tracking control strategy. Establish a four-wheel steering vehicle kinematics and dynamics models of two degree of freedom, put forward the rear wheel steering control method. A obstacle avoidance path tracking controller was designed based on parameter self-adjusting fuzzy PID control metheod, and made the path tracking simulation finally.In order to further implement the four-wheel steering of obstacle avoidance of the smart car driving adaptive control method, a four-wheel steering model car equipped with multiple sensors was taken as the experiment device, it introduced the hardware experimental platform of the controller with divided into different modules. In the part of software, the paper had put forward the overall design scheme, introduced the software platform and made a summary of experimental considerations.Finally, the basic function module parts had been debugged, and test of the basic function of driving control on the model car had been completed.