Research On Servo Method Of Intelligent Driver & Implement On Autonomous Vehicle

There are broad development prospect and application field for mobile robot. For its superiority, mobile robot has attracted more and more attention of researchers all over the world. Because autonomous vehicle is simple model of mobile robot, it is typical to research on servo method of driver control based on it.Motion control of autonomous vehicle commonly adopts multilevel strategy. Complicated relationships exist among control levels, it is disadvantage for vehicle to fit diverse environment owing to heavy tasks that are carried on to harmonize those information. And command from upper module is so uncertain that make hardware locked owing to self protection. Moreover, during driver works any accidents can happen at any time, the question need solve promptly. Aimed at these problems, the work of research on servo method used in intelligent driver is performed.First, analyzing the interrelation between the vehicle driver and upper control level and according to present vehicle control unit, the whole control system is partitioned logically. Driver control unit is set up based on IPC(Industry Personal Computer), which has module structure and supports rich resource of hardware and software to provide basic platform for research on servo method.Second, servo method is researched according to requirement of intelligent driver. The theory of fuzzy control is introduced and applied in driving motor timing. Servo control demands not only basic control of velocity and acceleration but also scheduling with the upper level, therefore control mechanism by stages for vehicle moving is put forward. Meanwhile, because system model of mobile vehicle and environment model are very uncertain, on condition of independence of other monitor, driver unit demands certain ability of fault diagnose and handling. So detailed measures is present to solve some fault problems, including wrong information of sensor, obstacle in running course and output value exceeding limited value. At last, software design and development are set forth. Besides, carrying out detailed analysis on the error resulted from the vehicle action, and amendment measures are put forward.