Study Of Obstacle Avoidance Path Planning And Lateral Control For Intelligent Vehicle

Intelligent vehicle is a set of high-tech in one of the complex, at the same time it is also an nportant part of the intelligent transportation system. At present, more and more attention is iven to the problems of traffic safety, which is also playing a significant role in promoting ntelligent vehicle research. Based on the visual navigation of intelligent vehicle as the research ibject, it has maken a study on path planning and motion control of the key technology related ontent of intelligent vehicle.According to the characteristics of intelligent vehicle motion control, the vehicle dynamics nodel is established with longitudinal, lateral and yaw. In full consideration of tire cornering’s nfluence on the basis of vehicle motion, the combination of the both is constituted vehicle ateral dynamics model, at the same time subjoining visual preview, in order to ensure that the (?)ehicle can prejudge the front path and obtain the deviation information in the process of unning deviation, visual preview kinematics model is combined with simplified vehicle lateral lynamics model into vehicles equation of state.In unknown environment, intelligent vehicle requires planning a collision-free path, to nsure that the vehicle can arrive at the destination accurately. Therefore, this paper made a esearch on the obstacle avoidance path planning, and research on the path planning algorithm ises artificial potential field method. Artificial potential field method has the advantages of imple structure, timeliness, and can meet the requirements for the intelligent vehicle for path (?)lanning speed. On account of motion characteristics and passage of vehicles, Improvement of he artificial potential field method meet the requirements of the intelligent vehicle for the xercise of path planning.Intelligent vehicle lateral controller is designed by that sliding mode variable structure ontrol combined with fuzzy control, the collected vehicle lateral deviation and direction leviation is fused, the integrated deviation fused forms the sliding mode function, to reduce the limension of the fuzzy control can effectively reduce the complexity of fuzzy control, the liding mode function and its changes will be designed as the fuzzy control input, at the same ime, weaken the chattering and smooth the control signal input, ensuring the stability of the teering wheel.With different curvature of the road, lateral controller for intelligent vehicle in the nvironment of Matlab/Simulink simulation analysis is done, it is investigated for different curvature intelligent vehicle path tracking effect, especially for abrupt curvature road tracking, tracking the planning path by using improved artificial potential field; The simulation results show that fuzzy sliding mode lateral controller has very good path tracking, and has better robustness, to ensure stability in the intelligent vehicle autonomous driving.