Driving Side Slip Prediction Of Automaticdriving Vehicle And Control

The development of autonomous vehicles has attracted more and more attention of the world.Auto-driving technology is the most innovative field in the automotive industry.At present,most studies on autonomous vehicles have focused on the problem of driving under conventional conditions,but less research has been done under extreme conditions.In the future,the process of automatic driving from R & D to practical application must consider the problem of how to drive under different conditions.Therefore,from the perspective of vehicle safety,this paper studies the driving side slip prediction and vehicle driving control problems.In this paper,the research of automatic driving technology is mainly divided into two aspects.The first aspect is to study the prediction method of vehicle sideslip condition by predicting vehicle sideslip condition with the information obtained from common sensors.The second aspect is to judge whether there are less slip disturbances or more slip disturbances when the vehicle is driving by the prediction method of side slip condition.According to the results,different controllers are designed.In this paper,three parts are studied,which are the prediction of side slip condition,the vehicle return control in the case of less slip disturbance and the vehicle return control in the case of more slip disturbance,and the research methods and results are expounded.In view of the fact that most of the current vehicle research is carried out under conventional conditions,but the problem of driving under unconventional conditions is not taken into account,this paper presents a method for predicting vehicle sideslip by processing vehicle status information.Vehicle status information is obtained by in-vehicle sensors,and the information is processed by filtering weighted convolution.The prediction of vehicle sideslip status is described by the amplitude of the data.The simulation results show that the method presented in this paper can avoid the limitation of open-loop environment and noise disturbance,and predict the sideslip condition of different degrees.Aiming at the problem that the vehicle may deviate from the desired trajectory due to the unbalanced body and uneven road surface,this paper presents a controller design for the vehicle to return to the desired trajectory with less slip disturbance after deviating from the trajectory.The simulation results show that the model predictive controller based on vehicle yaw direction,lateral and longitudinal vehicle dynamics model can control the vehicle correctly after the vehicle deviates from the desired trajectory,so that the vehicle can return to the desired trajectory.Aiming at the problem that vehicles deviate from the track and are easily disturbed in the course of driving under the road with more slip disturbances,this paper establishes a nonlinear vehicle dynamics model based on the yaw direction,lateral and longitudinal directions of vehicles,and designs a model predictive controller with parameters considering the change of wheel slip rate caused by more road disturbances.The simulation results show that the proposed controller can make the vehicle return to the desired trajectory quickly after the vehicle deviates from the desired trajectory.By comparing the simulation results,the model predictive controller with parameter is able to keep the vehicle body stable and improve the safety of the autopilot.