Abstract
In order to improve the harsh working environment such as high temperature and soot faced by the operators of hot in-place recycling heating vehicle, and to increase the intelligent level of heater control, an intelligent driving system composed of a differential GPS positioning system, a path planning system, a vehicle control system and a management center was designed It uses coordinate transformation and the least square algorithm to achieve high-precision path fitting. The Newton method is used to calculate the deviation from the point to the fitting curve, and a double closed-loop PID controller is used to achieve accurate path tracking. The field test results show that the vehicle can be controlled by intelligent driving system to walk along the pre-construction route, and the lateral control accuracy is within ±30mm, which meets the requirements of the hot in-place recycling construction process.
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