Integrated Lateral And Longitudinal Control Of Curve Following Car Based On Brain Emotional Learning Model

As one of the new four modernizations of automobile,automobile intellectualization has been paid more and more attention by society.Vehicle motion control is the foundation of the research of intellectualization.The previous research on motion control mainly focuses on the single lateral and longitudinal motion control,or the comprehensive control in the case of no car in front.There is little research on the integrated lateral and longitudinal control of curve following car.With the object of the scenario of two vehicles on single lane,a comprehensive control method based on the brain emotion learning model is proposed in this paper.The main contents of this paper are as follows:Firstly,the vehicle dynamics model based on Carsim and the vehicle anti longitudinal dynamics model based on Simulink are established,and the effectiveness of the model is proved by simulation experiments.In order to meet the requirements of safe and efficient car following,based on the traditional safe distance strategy,the acceleration is taken into consideration in this paper to make corresponding improvement,so as to make it more suitable for complex driving conditions.And in order to avoid sideslip during cornering,the safe speed of the vehicle when cornering is limited.Secondly,a hierarchical integrated lateral and longitudinal control system is designed.The upper controllers of the lateral and longitudinal motion are designed based on the optimal curvature model and fuzzy control respectively.The desired yaw rate and longitudinal acceleration are determined and output to the lower controller.Based on the brain emotion learning model,the integrated lateral and longitudinal controller of the lower layer is designed.The expected value of the upper layer is converted into the control quantity and output to the vehicle.The particle swarm optimization algorithm is used to optimize the parameters of the control system.The optimized controller can track the expected value more accurately and quickly.Finally,in order to verify the integrated lateral and longitudinal control system based on the brain emotion learning model,a platform based on Carsim and Matlab / Simulink is built,and the effectiveness of the control system is proved by three groups of simulation experiments.In order to further verify the feasibility of the control system,three conditions are set for hardware-in-the-loop experiments.The simulation and experimental results show that the proposed integrated lateral and longitudinal control system has good control accuracy and fast response speed.