Research on Ackerman Driverless Vehicle Control Strategy Based on IMU Steering Calibration and Inverted Parabolic Speed Control

Abstract

Under the assumption of a given path planning method for driverless vehicles, this paper proposes an Ackermann driverless vehicle control strategy based on IMU steering calibration and inverted parabolic speed control. On the basis of clarifying the steering model of Ackerman driverless vehicle, this control strategy is divided into two parts: steering control strategy and speed control strategy. Steering control strategy introduces Kalman filter for IMU to eliminate accelerometer zero drift and filter Accelerometer high-frequency vibration, fuzzy PID algorithm adjustment controller combined with IMU measurement angle change value and angular acceleration to correct the steering to offset the driverless vehicle inertia and steering execution unit delay; speed control strategy introduces inverted parabola control algorithm and increment The PI controller can increase the adjustment time of the motor speed and reduce the adjustment error to optimize the turning process of the driverless vehicle. According to the experimental results, compared with the Ackerman driverless vehicle based on traditional PID controller under the same experimental conditions, the average error of the Ackerman driverless vehicle based on the control strategy proposed is reduced by 0.13cm, the average speed is increased by 0.16m/s, and has better robustness and adaptability to sharp curve.