Research And Implementation On Path Recognition And Control Method For Intelligent Vehicle In Cornering Region

Although the condition of the road is varied to intelligent car, its effect of controlat different curvature of the curve basically reflect the system’s effects andperformance. Because no matter what kind of traffic, there will always exist a curve,then control the car safely, smoothly and efficiently in the curve will precisely reflectthe control performance of the intelligent car. Therefore, the research of the detectionand motion tracking control in the curve has important significance, and it isnecessary to enhance the control performance of the intelligent car under differentroad conditions. However, there are still many shortcomings in conventional detectionmethods and control strategies to improve control performance on car corners.The traditional path detection and motion control strategies are mostly carried outresearch in the context of an ideal environment, however, the factors affecting theactual traffic control performance of the car was not the ideal environment so simple.Especially in the corners environment, different curvatures, light, and so may causeinterference or velocity disturbances even blind detection, thereby directly orindirectly affect the performance of the car movement control.This article is based onvisual tracking of the intelligent car as the object of study. The detection especially thedead zone detection and motion controller is so important to the intelligent car system.Then, our job is to study on it and try our best to enhance the performance of theintelligent car on the curve control. The main work is as follows:Study the recognition method of the intelligent car on the corner, especially thedetection of the dead zone. Unable to properly identify the road for the car in the deadzone is the problem for us to face to. Therefore, we proposed a dead zone detectionmethod to deal with it and then conduct a few experiments to verify.Research a car steering control problems in the corners environment. For the carcan not accurately establish the mathematical model under the curve drivingenvironment, time-varying intensity, nonlinear. We propose the fuzzy logic controlstrategy in the steering control and design a fuzzy controller with it.And combined with the principle of auto shift gear, we design a speed fuzzycontroller to implement it.Then, based on the speed control and steering control, wehave a research on the coordination control between them and design a strategy toimplement it. Finally, combined with the detection method of dead zone and steering, speedfuzzy control, we conduct a few groups of experiment to find the influence to theintelligent car system and the relation among these methods.