Simulation and experiment of intelligent vehicle lateral control based on Fuzzy PID algorithm

Abstract

In this paper, the lateral motion control of intelligent vehicle is studied and improved. According to the time-varying nonlinear characteristics of intelligent vehicle driving process, the Fuzzy PID control algorithm based on the combination of fuzzy control theory and traditional PID algorithm is adopted. The Fuzzy PID lateral control simulation platform is established by using Matlab / Simulink to verify the control effect of lateral lane change under different longitudinal speeds. The effectiveness of the fuzzy control algorithm is verified by the simulation results; Finally, the test platform is built and the lateral lane change motion control test is carried out. The accuracy of the simulation model and the reliability of the established control algorithm in the real road environment are verified, and the accuracy and dynamic stability of the lateral motion control of the intelligent vehicle are improved.