Research Of Intelligent Vehicle Trajectory Tracking Control Based On Collaborative Simulation

Intelligent vehicle is a comprehensive system which collects a variety of modern electronic information technology, at the same time it is also a major component of intelligent traffic control system. As the increasingly high requirement of the society for safety and intelligent vehicle system, intelligent vehicle system has become the hotspot research for counties in the field of traffic and the technological frontier. Funded by the national natural science fund project (NO.61104165), the research work is carried out on the key technologies of intelligent vehicle path tracking collaborative simulation control in the intelligent transportation system.In order to make the vehicle dynamic structure model as possible as close to the real vehicle mechanical system dynamics, first of all the structure of the intelligent vehicle is simplified and then each subsystem dynamics model of the intelligent vehicle is established using the simulation platform ADAMS/Car. Finally all the subsystem dynamic models are assembled into the vehicle model and the input and output state variables for simulation analysis are defined in this paper.In order to reduce the lateral deviation and the orientation deviation in the process of trajectory tracking, this paper designs a trajectory-following control strategy based on the desired yaw rate feedback. The vehicle’s desired yaw rate is deduced through the real time planning virtual path between the vehicle mass center and prediction aiming point which is planned based to the vehicle’s kinematic model and pose error model. And the vehicle path tracking controller is designed by sliding mode variable structure control method combined with RBF neural network method, so that the vehicle can accurately tracking expected trajectory.Through a large number of studies have shown that in emergency situations the driver optimal maneuver should be steering not adopt braking to avoid the obstacles. The urban road traffic vehicle active collision avoidance is analyzed in this paper. First, the obstacle avoidance decision-making curved surface is designed based on the critical safe distance between the vehicle and the obstacles, and then a linear offset superimposed on sine functional obstacle avoidance trajectory is designed through the comparative analysis of several kinds of obstacle avoidance trajectory.According to different road curvature desired trajectories, the interactive combination trajectory tracking control dynamic simulation is realized based on the ADAMS/Car and Matlab/Simulink software platform. The simulation results show that the trajectory tracking control system can control the vehicle accurately tracking the different curvature of desired trajectory. The whole control process operates smoothly and has a good dynamic characteristic and robustness. The control algorithm in this paper enhances the control precision of the system and improves the tracking performance of the system.