Design And Realization Of The Autonomous Vehicle Motion Control System

Intelligent vehicle aims at applying cutting-edge technology of pattern recognition, positioning and navigation, environmental perception, intelligent decision-making, control engineering and other disciplines to conventional cars, improving the intelligence level of the vehicle. Among a number of autonomous vehicle technologies, the vehicle motion control technology is to achieve a stable and reliable basis for autonomous driving vehicles, and high-precision trajectory tracking down an unknown road and track speed has been a research focus and hot spots.Firstly, the motion control system of the vehicle is divided into longitudinal control subsystem and lateral control subsystem. For throttle control of the longitudinal control system, using the integration of the road gradient information and incremental PID control algorithm. The paper proposes a hierarchical fuzzy vehicle braking control algorithm after analyzing the driver’s behavior. After the speed deviation and the speed deviation change amount whic is within a control cycle deviations are multiplied by the corresponding coefficient is uniformly quantized Fuzzy. Then get the output of fuzzy control rules by checking the table, The output after the sub-file control rules are adjusted to obtain the amount of actual control. And output as the handover criterion throttle control and braking control.To the question that lateral control of the vehicle is easily influenced by longitudinal velocity and vulnerable road curvature and other factors. Using simplified two dimensional dynamic model to describe the movement of the vehicle and using the heading estimated algorithm to control lateral movement of the vehicle. The trend of intelligent vehicle heading as a control input to a lateral deviation of the motion controller to guide the output of the controller, thereby eliminating the confounding factors of road curvature on lateral movement control exploit trends heading.Relying on the transformed vehicle platform of this article to run control algorithm accuracy and reliability testing. Under an emergency stop, change lanes, circular trajectory tracking with three scenarios for the vehicle speed tracking and tracking performance to expand testing and results analysis. Verified herein validity and reliability of the experimental results and summarize the current control system design advantages and disadvantages, and also on future research prospected.