Design And Research Of A Comprehensive Control System For FSAC Racing Lateral And Longitudinal Movements

With the development of science and technology and the improvement of people's living standards,the number of cars is also increasing.As of December 2018,data from the Ministry of Public Security show that China's car ownership has reached 240 million,and the data is still on the rise.This has led to an increase in the incidence of traffic accidents,so it is imminent to find a safer way to travel.As a showcase of the research achievements of major domestic universities on automobile technology,Formula One Chinese college students represent the highest level of new automotive technology in China.The first national unmanned Formula One racing car was held in Xiangyang,Hubei in December 2017,including 7 teams including Beijing Institute of Technology.Unmanned driving technology is a cutting-edge technology in the automotive field,and motion control is a basic issue for its research.The research object of this paper is the horizontal and vertical integrated control system.First,the design of the FSAC racing platform.According to the FSAC competition rules and the racing design manual,the vehicle structure and the selection and layout of each sensor were designed;the acceleration,braking and steering mechanisms of the FSAC racing car were designed using Guangdong University of Technology E05 formula racing car as a research platform.The main parameters are determined.Secondly,starting from the demand model,a two-degree-of-freedom horizontal and vertical kinematics MATLAB simulation model is constructed.The theoretical basis of the research includes PID control,fuzzy control and model predictive control.Then,based on the research theory,a layered longitudinal controller and a horizontal controller based on the MPC algorithm were designed,including an incremental PID acceleration controller,a fuzzy PID brake controller,and an accelerator/ brake switching device.The designed horizontal and vertical controllers are tested and simulated.The conclusion is that the designed controllers have good robustness and reliability.Finally,this paper designs a set of horizontal and vertical integrated control systems,and conducts simulation experiments on it,and selects double shift lines as the simulation working conditions.The conclusion is that the horizontal and vertical integrated control system designed in this paper is robust and can meet the requirements of the competition.The study of the horizontal and vertical integrated control system in this paper notonly supplements the knowledge of decoupling horizontal or vertical control research,but also provides theoretical guidance for our school to build the first FSAC racing car.It also solves the unmanned motor sports execution mechanism and control.Algorithm design issues.