The Design And Experimental Study Of The Active Obstacle Avoidance System For Intelligent Vehicle

Developing the intelligent vehicle technologies has attracted wide attention worldwide which would not only reduce traffic accidents and improve the vehicles’ performance in safety, but also have widest development space and application prospects in the field of industry and military affairs. The developmental history of intelligent vehicles and the state-of-art of the intelligent vehicle system have been summarized, the current research directions and the key technologies of intelligent vehicle system have been introduced in this dissertation.First of all,this dissertation establishes the system structure of the intelligent vehicle, sets the function of each module and establishes the CAN communication during them.Then uses vision sensor and millimeter wave radar to detect the road boundary and obstacle, uses the improved VFH method for local path planning and software simulation if the system found obstacles. Designs the path tracking controller based on back stepping according to the kinematics and dynamics model of the vehicle, also for the software simulation and analysis.The dissertation Choses STM32F103ZET6as the main control chip of the bottom controller and designs the circuit of each part.Writes the motor control program with RealView MDK.Finally, experiments the real vehicle active obstacle avoidance tests to verify the effectiveness of the designed controller. The test results show that the intelligent vehicle can avoid obstacle effectively and stably.