Ethod Of Global Path Planning And Trajectory Tracking Control For Intelligent Vehicles

Intelligent vehicle is a kind of autonomous mobile robot that can realize automatic or semi-automatic work in complex environment.The application of intelligent vehicles can greatly reduce the probability of traffic accidents and realize intelligent transportation.At present,the research on intelligent vehicle in passenger vehicle is a popular research topic and have made abundant achievements.However,there are few achievements in commercial vehicles,especially on bus with large inertia,severe lag and long wheelbase.Based on the electric bus,this paper studies the autonomous driving technology of intelligent vehicles.In order to realize autonomous control of 12 meters electric bus,this paper adopt the method of global path planning and the corresponding search strategy to obtain the shortest path of the vehicle,using GIS software to describe traffic geographical environment track points.At the same time,In view of the long wheelbase,big inertia and serious lag,under the condition of low speed running,after the vehicle is modeled,this paper carry out the lateral and vertical decoupling control and the vehicle control based on the aiming trajectory tracking control strategy.According to the simulation of Trucksim,the control method proposed in this paper can control the vehicle to follow the given trajectory effectively,compared with the simulation results of incremental PID control,the longitudinal control mode that based on adaptive rolling prescan has good step response and system robustness.To verify the effectiveness of the proposed control method and control strategy,we build a 12-meter pure electric bus platform for verification,and realized the planned driving operation of the bus in accordance with the predetermined trajectory,acceleration,trajectory tracking,braking and parking,achieved the basic functional requirements for autonomous driving of intelligent vehicles...