Electronic Control System Development And Trajectory Tracking Control For Vehicle Soft Target

With the evolution and progress of smart car, it will blend in everyone's daily life in the future. Since the smart car needs to achieve safe driving with less human intervention and avoid obstacles and people automatically in spite of extremely complicated traffic situations, an active-safety device of high quality is essential. In order to test the smart car active-safety function, this paper designed a automation test instrument — vehicle soft target. Its overall structure composition, hardware platform design, software development and trajectory tracking control function has been studied.Firstly, this paper analyzes the requirement of how to test smart car's active-safety devices, and determine the function of the vehicle soft target, it is divided into two main components in the overall structure: the mobile station and the fixed station.This paper developed electronic control system platform of the mobile station, which includes motor driver system, brake system, wireless communication, DGPS navigation and power system. Each function is detailed introduced in this paper. The fixed station which is consist of PC and DGPS reference station, is used to achieve the function of desired trajectory planning and data transmission.Then this paper gives trajectory planning and trajectory tracking methods of vehicle soft target. The desired path data of trajectory planning get by lead-through teaching, and interpolate fitting to obtain smooth trajectories on the fixed station PC. Through analyzing the structure of the vehicle soft target mobile station, this paper establishs its kinematics model and pose error differential equations during motion. for their motion pose error differential equations, the variable structure control algorithm is used to design tracking controller, whose effectiveness of control law is demonstrated the of the by simulation.Finally, this paper gives the overall structure of the software based on the software functional analysis of demands for soft targets in the vehicle, and designs the permanent magnet synchronous motor speed control software, linear motor driver software, wireless communications software and so on. Then, test results of each functional module are given by combining the software and hardware systems. Experimental verification of trajectory tracking control for the vehicle soft targets overall system is conducted, and the results are given.