Investigation Of Lateral Movement Control And Monitoring Of Intelligent Vehicle

As the most important research in intelligent transportation system, intelligent vehicles is a highly complex integrated system. The improve of people’s requirements of the traffic system, which greatly promoted the development of intelligent vehicles. In this paper, we take the lateral movement of intelligent vehicle for the study, and the mathematical model of lateral control, control requirements, common control equipment and control algorithms, etc. were analyzed.For the characteristics of the intelligent vehicle traveling along the path of guidance, some researchers established the of a typical three-DOF vehicle lateral motion model after analysis of lateral movement in the case of common parameters, and list the equation of state at last. The paper has analyzed the technical features of current four-wheel steering vehicle, and summarize its related content. Obviously, intelligent vehicles(four-wheel steering vehicle) require well-designed controller so that the vehicle meets the autopilot purposes.We attempts to approach with linear matrix inequality (LMI) analysis to design a state feedback controller in this paper, and proved the reliability of the control performance through simulation MATLAB/Simuiink. Consider the difficults of the observing various parameters of intelligent vehicle lateral movement, we try to established a robust observer and provide a reliable parameter values for a variety of implementations and other equipments. On the basis of the design of the observer, we designed the output feedback controller based observer, and proved the validity of observer and observer-based output feedback controller through the simulation MATLAB/Simuiink. Both the simulation of two controllers are also considered different road adhesion coefficient, the control performance under different driving speed conditions.Through comparative of analysis of two controller design and simulation results, we can see feedback controller is a simple structure and the good performance of vehicle lateral motion control, but only somewhat less in stability control. Output feedback controller based on the observer has show a good performance, its controls effect are stable and has not showed shock phenomenon, however, when the vehicle speed operation of the vehicle and of the small coefficient of road adhesion, the longer settling time of the controller, the control effect in this case is not so good. In the choice of intelligent vehicle controller, we can consider the advantages and disadvantages of each controller performance and selected by targeted, and thus to control the effect we want.