Study Of Following Method Of Autonomous Vehicle In Dynamic Urban Road Situation

With the development of intelligence industry,the study of autonomous vehicle has been paid more and more attention by universities and research organizations,and among the core technologies of autonomous vehicle,following behavior has been playing an important role of it,which in fact refers to the study of longitudinal speed planning and control system.Aiming at ride comfort of autonomous vehicle in dynamic urban road driving situation,a method for longitudinal speed planning and control based on driving mode analysis is designed in this paper.To begin with,a hierarchical structure of the longitudinal speed planning and control system is proposed considering the overall function and performance index.A mathematic model of longitudinal speed planning is established,based on which,a speed planning method is designed and described in details.After that,a concept of driving mode for autonomous vehicle is proposed.Regarding the requirement of the range of velocity as well as the performance of other systems of autonomous vehicle such as environment detecting system,a sectional speed control method is designed on the purpose of controlling driving mode.Finally,a Carsim/Simulink simulation platform is established to conduct simulation experiments for the designed longitudinal speed planning and control system,which proves it is feasible.Meanwhile,a plenty of experiments are conducted based on a specified autonomous car in different experiment places and different situations,which also suggests that the designed system satisfies the design requirements and index,effectively improving the ride comfort of autonomous vehicle.