Research On Dynamic Stability Of Driverless Vehicle Based On Fuzzy Control

With the development of the automobile industry and the continuous improvement of road conditions,the speed of vehicles is becoming faster and faster.However,when the vehicle runs at high speed,when the external factors such as side wind,sharp turn and other external factors are affected,or the adhesion coefficient of the road is reduced,the vehicle may have dynamic instability,threatening the driver's life.The vehicle dynamic stability system(Vehicle Dynamic Stability Control System)is a set of new automobile active control technology which is gradually developed to solve the above problems.This paper studies the dynamic stability of the vehicle,and adopts the fuzzy control as the control strategy,which is the dynamic stability of the unmanned vehicle in the later period.Qualitative research provides the basis.This paper first analyzes the development of unmanned vehicle and its dynamic stability system(VDC)at home and abroad.Then,a dynamic model of seven degrees of freedom vehicle is established through dynamic analysis,including the body model and the GIM tire model.Then the simulation of the vehicle model in MATLAB/simulink is used to verify the accuracy of the model from the mathematical model to the simulation model,which provides the basis for the subsequent control research.Then the basic principle of the VDC system is introduced,and the automobile reference model in the ideal state is set up.Then the control strategy of the VDC system is deeply analyzed,and the calculation method of the yaw moment produced by the single wheel brake is given.In view of the non real property of the automobile VDC system,two kinds of fuzzy control methods are adopted.One is the ordinary fuzzy logic control,the other is the parameter self-tuning fuzzy-PI control,which all take the deviation and the change rate of the yaw angular velocity as the input signal and the yaw moment as the output signal.Finally,the simulation results show that the fuzzy-PI controller has better robustness and adaptability than the ordinary fuzzy control and PID control,which can make the vehicle maintain a certain dynamic stability.