Research On Intelligent Vehicle Motion Control Based On Immune Algorithm

Intelligent vehicle which is based on multi-sensor information fusion technology andintelligent control technology, combine Planning decisions, perceived environment,autonomous control and driving into one integrated system. It is not only multi-disciplinaryand multi-field achievements in the 20th century, but also is research focus now. The furtherstudy and consummate intelligent vehicle have necessary theoretical significance andpractical value. Different control strategies have corresponding advantage in intelligentvehicle motion control, but it has some problem in certain aspects more or less. So, singlecontrol method is hard to achieve perfect control effect. Immune algorithm which can beefficiently and quickly find the global optimum solution is a new global optimizationalgorithm.This paper discussed the intelligent vehicle motion control and artificial immune systemof domestic and foreign research status and researched artificial immune system, commonlyimmune algorithm and clonal selection algorithm which is used in this paper. Simulationexperiments are to be done to test the performance of the clonal selection algorithm.This paper build an intelligent vehicle kinematics model based on front-wheeldifferential speed drive, and we use this model to describe the intelligent vehicle trajectorytracking problem. Then nonlinear input/output is processed by linear in this system anddemonstrate the control ability of the model. According to the clonal selection algorithm, aspeed controller is designed, and a speed tracking simulation experiment. The controller isapplied to the intelligent vehicle control systems, which used on intelligent vehicle trajectorytracking simulation, and have achieved good experimental results.In the local environment, the intelligent vehicle have to give up the case of the desiredtrajectory to avoid obstacles, so research avoidance control for intelligent vehicle which isstudied based on immune algorithm. In the local environment, the possession of the grid mapand the polar coordinates of the obstacles the histogram are generate by turn and the processof the vehicle obstacle avoidance base on immune algorithm was given.