Research On An Unmanned Vehicle Control Curve

The Unmanned technology has become hot research in recent years, unmanned vehicle control curve is one important research unmanned technology, it will be outside the main road is the perception, intelligence and optimal control path planning an integrated set of technologies that technology. Curve Control is the first principle of an unmanned vehicle by onboard sensors to obtain its status information, and then the relationship between physics and prediction algorithm to estimate the value of the radius of the curve obtained next time, based on the current vehicle speed and steering wheel angle, final vehicle under the conditions of security and stability for fast cornering.According to the basic requirements and practical conditions to build unmanned intelligent vehicle systems hardware platform, include automotive sensors and actuators hardware line agencies, such as unmanned intelligent vehicle control curve on the basis of experimental conditions.Tires and suspension systems are two important factors turning movement. Influence is based on linear two degrees of freedom vehicle model, discuss the side of the tire cornering properties and roll characteristics of the suspension of an unmanned vehicle turning behavior, as well as unmanned vehicles at different speeds and direction of the curve radius corner between constraints.Establish a yaw rate and the radius of the curve by physics Relationship, body roll angle and bend radius, using the Kalman filter algorithm yaw rate prediction, autoregression analysis algorithms to predict the inclination of the vehicle body to achieve the radius of the curve forecast, adjusted to take appropriate control value obtained based on the radius. For the Kalman filter algorithm simulation experiments, autoregression analysis algorithm cornering test under actual road conditions, the measured data through the analysis and discussion, to verify the feasibility of the two algorithms, comparison of the two algorithms in actual control process advantages and disadvantages.