Study Of Dynamic Obstacle Avoidance Path Planning And Body Control For Intelligent Vehicle

Development of smart car technology will not only help improve vehicle safety, comfort and economy, reduce the number of traffic accidents, driving fatigue and energy waste, but also in industrial manufacturing, military reconnaissance, aerospace and other fields has a broad space for development and application prospect, has been widespread attention around the world. So that all countries invest a lot of resources to study the smart car technology, including dynamic path planning and control which is the key part of smart car technology, is of great significance to the study of smart car.This paper first introduces the research situation of smart car at home and abroad, to determine the dynamic path planning method and controller of car body control. Then ideal dynamic path was planned and verified controller to control the effect of the vehicle. Finally, the ideal path was tracked; a smart car can avoid dynamic obstacles to arrive at the target location.The research content of this paper: the study of path dynamic programming, First, an initial path planning method, the simulation results show that the traditional artificial potential field to draw the path of the existing problems of regulations. Secondly, in this paper, by changing the potential field functions and set the initial conditions, solved to reach target, local optimum and collision problem, planning out the expected path. Finally, in order to plan the dynamic path, add speed elements in improved artificial potential field method, through the simulation, obtained can avoid dynamic obstacles and reach the target of the ideal path. Research on vehicle control, First, use CarSim software set the vehicle dynamics model, using Simulink to build a new instruction model. Second, the fuzzy PID controller is designed. Finally, in the CarSim/Simulink simulation platform, with PID and fuzzy PID controller to control the smart car on the straight path and sine curve path tracking, proved in different speed, the fuzzy PID controller has good control effect and can accurately track path.For the simulation of reality, control the smart car with continuous variation of the speed tracking sine path, the results of the analysis shows that the fuzzy PID controller has good control effect too. So you can use the fuzzy PID controller to control the smart car to tracking got dynamic path, the results show that the path to avoid dynamic obstacles to reach the target location. By changing the parameters such as vehicle mass center position to verify the robustness of fuzzy PID controller, the results show that the fuzzy PID controller has good control effect and strong robustness. So the path planning method and the controller can make the smart car autonomous driving in the presence of dynamic obstacles environment and can reach the target location.