Intelligent Vehicle Path Tracking Control And Hardware Development Of Measurement-controling System

With the increasing number of cars,which is resulting in a large number of traffic safety problems occured frequently,while with the rapid development of intelligent techrology,promoting more people to research on unmanned technology of intelligent vehicle.Intelligent vehicle can not only solve the traffic problems,but also it is an important embodiment of the application of intelligent technology in the era of intelligent.This paper mainly research on problems about intelligent vehicle motion path planning,real-time tracking to planning path and hardware development of vehicle control system.The main achievements and contributions of this dissertation are as follows.1.Research on the method of intelligent vehicle path planning based on behavior dynamics.Combined with intelligent vehicle highway driving environment and typical driving behavior of car-followitg,lane-changing,overtaking.This paper established late-keeping and car-following behavior model,llane-changing behavior model and overtaking behavior model based on behavior dynamics,then established the attractor model tend to target and repellor model obstacle avoidance,according to the weighted synthesis of attraction and repulsion,setted up the overall behavior dynamics model of intelligent vehicle motion path planning.The simulation results showed that under the typical driving behavior of each mode,the algorithm can control the heading-angle and line-speed of the vehicle effectively,and the traffic safety path can be planned.2.Research on the method intelligent vehicle path-tracking based on fuzzy adaptive tuning PID.We got the model of vehicle steering system through the recursive extended least squares algorithm for system identification,and combined with the two degree of freedom vehicle model,the tranfer function of the whole dynamics model of controlled intelligent vehicle was established,and then based on the fuzzy adaptive tuning PID algorithm,the intelligent vehicle path tracking motion controller was designed.Simulation results show that the algorithm and the design of the controller had a good real-time tracking effect for planning of heading angle and line speed.3.Hardware development of intelligent vehicle measurement-controling system.This paper builded hardware equipments(IPC,GUC motion controller,sensing sensor)platform to meet the requirements of intelligent vehicle control,and according to the demands and the characteristics of the digital controller I/O module general output level,we designed and producted of a 16 channels optocoupler isolation relay module circuit board,and achieved data acquisition and analysis for ultrasonic sensors,inertial navigation systems and GPS sensor by using serial communication mode.Then we designed and developed navigation electronic map for intelligent vehicle based on the Baidu map API,Studio Visual environment under the MFC box,C/C++and JavaScript interactive programming,and also established and realized network communication data transmission between upper computer(IPC)and lower computer(GUC motion controller)based on TCP/IP protocol.4.The debugging experiment of vehicle measurement-controling.Experiment platform and schemes were constructed with the experiment vehicle as the object,calibration of ultrasonic sensor data,adjustment of steering mechanism.Under the campus road environment,the test of speed-controling,straight-controling and turning-controling were carried out.And we realized the j oint control of steering,accelerating and braking mechanism.