Abstract
In this paper, a new longitudinal and lateral coordinated control algorithm for the intelligent vehicle (IV) is proposed for the problem of unbalance of tracking accuracy and vehicle stability during path tracking process. This work proposes a novel algorithm that adopts hierarchical control architecture and local linearization of the nonlinear path tracking model, establishes the objective function by tracking performance and driving performance in the tracking process, and designs the upper optimal controller. Following the theory of fuzzy proportional-derivative control method, a low-speed tracking controller is designed to track the desired speed. Simulations and the hardware-in-the-loop test are utilized to verify the effectiveness of the designed path tracking control algorithm. Results show that, unlike the traditional fixed-speed tracking control method, the proposed vertical and horizontal coordinated control algorithm can guarantee the vehicle's tracking performance at different speeds and improve its form stability. The improved effect is evident even at high speed.
Highlights
Intelligent vehicle motion control includes lateral, longitudinal, and vertical and horizontal coordinated motion control
We propose a hierarchical intelligent vehicle path tracking control system
The longitudinal and lateral coordinated control system of the intelligent vehicle is designed, in which the upper controller is the optimal controller that can plan the optimal vehicle speed and the optimal front wheel angle in real time, and the lower controller is the lateral fuzzy controller with steering angle compensation to improve the accuracy of the path tracking
Summary
Intelligent vehicle motion control includes lateral, longitudinal, and vertical and horizontal coordinated motion control. The innovation of the paper is mainly as follow: 1) A hierarchical control algorithm is proposed on the basis of the hierarchical control theory and fuzzy PD control theory to improve the intelligent vehicle path tracking accuracy and robustness, 2) The coupling mechanism of IV longitudinal and lateral motion is considered, and the vehicle handling stability, tracking accuracy and robustness evaluation index are considered in the controller designed. The rest of this paper is organized as follows: Section 2 establishes a path tracking system model including vehicle dynamics model, vehicle power transmission model and preview error model; Section 3 proposes a hierarchical path tracking controller of intelligent vehicle based on the optimal control theory and fuzzy PD control theory; Section 4 validates the effectiveness and superiority of the proposed hierarchical path tracking control method in path tracking and handling performance improving through simulation analysis; Section 5 carries out a bench test which verifies the correctness of the simulation results; Section 6 presents the general conclusion
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