Research On Underlying Reconstruction And Control Algorithm Of Driverless Vehicle

This article is started from the transformation of the underlying hardware system of the vehicle,and then designs the underlying longitudinal and lateral control algorithm of the experimental vehicle.After completing the vehicle's underlying platform,we studied the vehicle's location algorithm,longitudinal and lateral control algorithm of the vehicle.Finally,we used the path tracking algorithm to verify and continuously optimize the control algorithm of underlying platform.At the point,we completed a complete automated driving platform.The transformation of the underlying hardware system mainly involves its longitudinal and lateral systems.The longitudinal part includes the underlying hardware reconstruction and the design of the underlying control algorithm that including the acceleration and deceleration systems.And the lateral system includes the transformation of the steering system and the design of its underlying control algorithm.The hardware transformation focuses on the theory and steps of the transformation,and the research on the principles of the circuit board.The longitudinal and lateral underlying control algorithm are mainly designed by the classical PID theory.Secondly,this article focuses on the research in the car's control algorithm,which mainly involves four parts: the location algorithm,the longitudinal control algorithm,the lateral control algorithm and the path tracking algorithm.The location algorithm is based on the wheel angle and the four-wheel's odometer.The longitudinal control algorithm is mainly based on the PID theory.And we import the idea of feedforward control into the PID control,which not only improves the precision of the speed control,but also the adaptability of algorithm in the different environments is enhanced;the lateral control algorithm focuses on the conversion of the heading angle and the generation of the steering wheel command so that the wheel can reach the expected angle quickly and accurately;the path tracking part mainly studies two tracking algorithms.The first is based on the deviation of the heading angle,and the second on the curvature of the path.Finally,we compared their error and the tracking performance.These four parts are pushed layer by layer,starting from the location of the car,designing the longitudinal and lateral control algorithm,and studying the path tracking algorithm,and gradually we build the control system of the driverless vehicle,and provided an experimental platform for unmanned vehicle.