Intelligent Steering Control And Trajectory Tracking Simulation Analysis Of Urban Electric BRT Vehicle

In recent years,with the rapid development of the national economy and the country’s vigorous efforts to promote urbanization,the number of cars in cities has increased significantly,leading to problems such as traffic congestion,environmental pollution,and traffic safety in many cities.At present,the above issues are mainly solved through the traffic restrictions based on the last digit of license plate numbers,the development of new energy vehicles,and the development of urban public transportation systems.In the long run,electric buses are undoubtedly an ideal solution.Therefore,in this paper,I proposes a smart electric BTR vehicle program that can complete the road tracking,stop at the station and the driver can quickly intervene in emergency situation.The program can not only effectively reduce traffic congestion and environmental pollution,but also reduce the dependence on the driver and driver’s driving fatigue through the intelligence of the electric BRT vehicle.Firstly,in view of some shortcomings of the existing automatic steering system,an automatic steering system capable of effectively reducing the steering delay under emergency situation is designed.The system adds a set of planetary gear mechanism to the traditional mechanical steering structure,so that the steering system is changed from a single input system to a dual input system.By controlling the drive motors 1,2 and their connected worm reducer with reverse self-locking characteristics,the automatic steering and manual steering can be switched freely,it can increase the driving safety of the intelligent electric BRT vehicle.Secondly,a trajectory tracking controller was established using a MPC algorithm based on a simplified two-wheel kinematics model of the vehicle,and a fuzzy PID control algorithm was used to control the inner ring of the front wheel angle.The semi-physical automatic steering experiment platform is built on the basis of the traditional mechanical steering structure,and the steering system is automated by installing the drive motor and the Arduino.In the semi-physical simulation,Matlab/Simulink external simulation function is used to convert the Simulink support package for Arduino’s port module and Matlab/Simulink module into embedded code.The external computer and the Arduino realize the semi-physical simulation of the automatic steering system through serial communication,and test the performance of the fuzzy PID controller.Finally,an improved MPC controller based on variable Weights and a variable prediction domain of the reference trajectory curvature is proposed.The electric bus model and direct torque control three-phase asynchronous motor model and trajectory tracking controller were established by using the software of TruckSim and Matlab/Simulink,then,combining the TruckSim with the Matlab/Simulink to realize the simulation analysis of the intelligent electric BRT vehicle’s tracking trajectory under different loads.From the simulation results,we can see that the Improved MPC controller has smaller lateral tracking error and smaller lateral and longitudinal acceleration than the traditional MPC controller.The tracking simulation of curves with different radii is used to determine the maximum driving speed of the system when the system passes through curves with different radii,which provides a basis for modeling the reference trajectory of the BRT system.The precise parking simulation analysis validates the precision parking capacity of the intelligent electric BRT vehicle.