Design And Implementation Of Lateral Control System For Intelligent Vehicle

With the development of automotive electronics and intelligent control technology, intelligent vehicle has become a research hot spot in automation field. Intelligent vehicle put advanced sensor technology, information processing technology, computer technology, data communication technology, electronic control technology, information display technology and other high technology into itself, achieve automatic path tracking, automatic recognition of forward obstacles, autonomous collision avoidance, and finally realize autonomous navigation and automatic driving, which reach the target to improve traffic safety and increase road capacity.Vehicle lateral control is the important content of intelligent vehicle control system research that is the control perpendicular to direction of motion. Intelligent vehicles identify deviation between the vehicle and the target line by information of road marking, road obstacles vehicle sensors collected, travel along the target line by using some control model, control method. Lateral control of vehicles can avoid roadside obstructions, prevent side friction of vehicle to improve traffic safety, reduce the incidence of traffic accidents.To achieve lateral control of intelligent vehicle, a complete lateral control system is built, it determines the hardware design of the intelligent control system, which includes selecting of the main chip, information gathering sensors and actuator, designing of power supply module and communication module; the lateral control system also determines software design process. The text researches the road signal gathering method. It gathers image information from the camera by the main controller DSP, the text also researches camera calibration methods under the body coordinates in order to get the relations among the vertical scanning distance, the lateral horizontal distance, camera rows and columns. The text researches the image processing algorithm, introduces design of image binarization algorithm, image filtering algorithm, lane mark identification algorithm in detail. It also researches the body movement model, from which position error equation is derived, and then body navigation parameters are determined. Base on the body navigation parameters, this test designs fuzzy control algorithm and studies the MATLAB simulation of the arithmetic of fuzzy control, the simulation results show that the vehicle can track the trajectory with the fuzzy control algorithm. The relevant experiment of intelligent vehicle lateral control is done in simulation experiment platform of road traffic system. The result indicates that the intelligent vehicle can better realize single lane identification and straight, turn driving.