Steering Control Of Autonomous Vehicle Based On Multi-Sensor

The development of automated vehicles on one hand, can be very effective to eliminate the possibility of drunk driving, fatigue driving, and other dangerous driving behaviors. On the other hand, the development of automated vehicles can significantly advance technologies such as control system, artificial intelligence, and other cutting edge technologies.This research article focuses vehicle control aspect of the automated vehicle. The vehicle control aspect composed of mechanical parts, hydraulic system, and control signals. This article will first analyze the theory of each individual component. Next, the article will discuss software simulation of each system. Finally, an integrated model will be presented.The most important aspects for the control of automated vehicle are the lateral force and the lateral movement. A simplified, two degree of freedom model of the vehicle will be used to analyze lateral force and lateral movement, and model will create an equation describing relationships of forces and movements. An ADAMS model of the vehicle will be established using on the suspension system of a real world Jeep. A realistic model of automated vehicle can be established by close examination of ADAMS model. Hydraulic system powers the control system of the automated vehicle. The transfer function of hydraulic system is calculated by analyzing hydraulic force balance and force continuity. Shock response transfer display, the system there is a certain impact. Using theoretical analysis of the hydraulic system as a guide, a model of the hydraulic system will be created in AMESim. The initial value of the desired angle is obtained by the navigation apparatus, and an appropriate choice of navigation method is necessary. After comparing the advantages and disadvantages of several different navigation systems, INS/GPS is the most suitable automated vehicle. In PID control loop, collection of steering wheel angle is paramount. This article analyzes two different collection methods. Using AMESim as simulation platform, various parts of automated vehicle are integrated into one comprehensive simulation. After much testing, the result from integrated simulation will be analyzed based on the theory of the vehicle. The difference has little effect on steering of the vehicle, the vehicle will achieve desired control.