Research On Lateral And Longitudinal Control Method Of Intelligent Vehicle

Self-driving car is a technical solution that can solve problems such as traffic safety,traffic efficiency,energy utilization,etc.,and is an ideal target that the car has been given since its invention.In recent years,with the rapid development of computer,network communication technology and intelligent algorithm theory,the research of intelligent vehicle technology has become the frontier and hot spot in the field of vehicle engineering and artificial intelligence.The lateral and longitudinal motion control of vehicles have important research significance as the key and basic conditions for realizing unmanned vehicles.In this paper,the vehicle control of traditional fuel vehicles is studied,and the lateral control,longitudinal control and the coupling control solutions of the vehicle are designed respectively.The main work and innovations are as follows:?1?Design of vehicle lateral motion controller based on?₁ adaptive control theory.After studying the lateral motion of the vehicle,by analyzing the f orce of the vehicle and focusing on the interaction between the road and the tire,the mathematical model of the lateral motion of the vehicle is established.Using the?₁ adaptive control theory,the front wheel angle of the vehicle is taken as input.The lateral displacement and yaw angle of the vehicle are the control targets,and the lateral motion controller of the vehicle is designed.Finally,the Simulink model of the controller is simulated and verified.The simulation results show that the vehicle can follow the reference trajectory under the action of the designed lateral motion controller.Driving,and the change of the front wheel angle is smooth and stable.?2?Design of vehicle longitudinal motion controller based on model predictive control theory.The model predictive control algorithm is used to build the upper controller of vehicle longitudinal control,and the lower layer controller of vehicle longitudinal motion is established based on the longitudinal motion mathematical model of the vehicle.The establishment of the upper controller is based on the driving condition of the following vehicle,and the desired motion state of the controlled vehicle is obtained from the motion state of the preceding vehicle;the lower controller controls the accelerator pedal opening and brake master cylinder pressure according to the expected motion state of the vehicle calculated by the upper controller.The simulation results show that the longitudinal controller designed in this paper can realize the longitudinal desired motion state of the vehicle under the condition of ensuring safety and comfort.?3?Design of vehicle lateral and longitudinal motion coupling controller based on linear time-varying system.Based on the previous research on the lateral and longitudinal motion control of the vehicle,the vehicle speed is taken as the common coupling point of the integrated controller.Using the?₁ adaptive control theory of the linear time-varying system,the time-varying reference system with the lateral and longitudinal motion coupling of the vehicle is designed.Adapt to the controller.The simulation algorithm is verified by simulation.The results show that under the action of the designed horizontal and vertical integrated controller,the controlled veh icle can achieve good trajectory tracking when the vehicle speed changes with the curvature of the road.Based on the vehicle dynamics model and using the appropriate and effective control algorithm,the lateral and longitudinal motion controller of the vehicle is designed and verified by simulation,which proves the effectiveness of the method.This thesis provides new ideas and methods for the control research of intelligent vehicles.