Design And Implementation Of Path Tracking Controller For Intelligent Vehicle Experimental Platform

The research of intelligent vehicle involves many aspects,such as multi-sensor fusion,machine vision perception,path planning,path tracking and human-computer interaction.A flexible and efficient platform to support multiple types of sensor configurations and meet the needs of a variety of experimental scenarios can be more efficient for the study of intelligent vehicles,this is critical to the study of intelligent vehicles.In order to facilitate the research of intelligent vehicle,this paper designs an intelligent vehicle experiment platform based on the distributed multi-sensor fusion scheme.The system architecture of the experimental platform designed in this paper realizes the 360-degree range detection of the surrounding environment through the reasonable distribution of different types of sensors.In order to meet the requirements of different experimental scenes,this paper sets up several sensors installation positions on the experimental platform by means of redundancy design,which can make a flexible and convenient adjustment to the sensor layout scheme according to different experimental scenes.The experimental platform adopts the integrated design method,the vehicle has been modified less,each module and the vehicle itself are combined more closely.The control mode of experiment platform adopts line control mode,and the motion control of experiment platform can be realized by vehicle bus,and it is more convenient,accurate and real-time than traditional control mode.On the basis of the intelligent Vehicle Experiment platform,this paper designs and realizes the path tracking system of the experimental platform.The whole system is developed based on embedded processor,which can control the vehicle effectively and can obtain the effective information of vehicle through can bus.This system realizes path tracking algorithm based on Pure-Pursuit model and can follow the executable path generated by the main controller.In this paper,the function test of each module is carried out for the designed experimental platform,including the test of the vehicle power system and data acquisition system,and the test of the vehicle direction,throttle,and brake reliability.On this basis,the path tracking system is tested and the test results are analyzed.