Research On Intelligent Vehicle Tracking Control System Based On SOA

With the acceleration of the process of intelligent networking of vehicles,the autonomous driving system has become the research focus of the next stage of intelligent vehicles,and the automotive electronic and electrical architecture has also been transformed from a traditional distributed architecture to a centralized one.Under the centralized electronic and electrical architecture,the traditional signal-oriented design can no longer meet the needs of autonomous vehicles,and it has begun to gradually shift to a service-oriented architecture.The tracking control function is one of the key links of the autonomous driving system.Research of the intelligent vehicle tracking control function and exploring its design and deployment under the service-oriented architecture has important engineering significance for the development and implementation of key technologies of intelligent vehicles under the new centralized electronic and electrical architecture and service-oriented software architecture.In this paper,the four-wheel intelligent vehicle with front-wheel steering is the research object.Based on the model predictive control algorithm,the intelligent vehicle horizontal and vertical integrated tracking control system is constructed and its design and deployment under the service-oriented architecture is realized.Firstly,a magic tire formula model is established to analyze the mechanical characteristics of the tire,and a three-degree-of-freedom nonlinear dynamic model of the vehicle is established based on the magic tire formula,and simplified within a reasonable range.Secondly,the path tracking error model and longitudinal control model are introduced on the basis of the three-degree-of-freedom model of the whole vehicle,and the comprehensive control model of the whole vehicle is constructed.Thirdly,based on the model control algorithm,the integrated control model of the vehicle is linearized and discretized,and the lateral and longitudinal motion characteristics of the vehicle as well as the driving safety,stability and comfort are comprehensively considered,and an intelligent vehicle lateral and longitudinal integrated tracking control system is established.Finally,under the service-oriented architecture,the vehicle tracking control system is service-oriented,an SOA system consisting of one application service,three basic services and six atomic services is designed,and the standard interfaces of each service are analyzed.The detailed design integrates the functional logic of vehicle tracking control with a service-oriented architecture.The feasibility of the intelligent vehicle path tracking control function and SOA system is verified by the method of simulation test verification.The verification results show that the vehicle lateral and longitudinal integrated path tracking control system proposed in this paper can meet the tracking requirements and the stability of the vehicle during driving.requirements,the communication capability of the constructed SOA system meets the requirements.