Research on Strategy and Algorithm of Lateral Motion Control for Autonomous Driving Electric Vehicle

Abstract

Autonomous vehicle motion control system includes two aspects: longitudinal motion control and lateral motion control. This paper studies the lateral motion control strategy and algorithm of the autonomous driving electric vehicles. By analyzing the two indexes of sliding stability and rollover stability, a safety evaluation model of curve driving is established. Based on the above model, the functional relationship between the safe driving speed and curve radius is established by vehicle dynamics software simulation, and the strategy of upper steering control is designed. The control algorithm of the lower layer of lateral movement matching with the upper layer control strategy is studied, which realizes the optimal control of lateral movement deviation. Finally, the real vehicle experiment verifies that the lateral motion control strategy and algorithm designed in this paper can control the steady-state error of lateral displacement within 1.14%, and it has obviously better performance than the traditional Fuzzy controller under straight road and large curvature curve with good real-time, stability and robustness.