Research On Intelligent Driving Automatic Control Strategy Under Special Roads

With the progress of science and technology and the development of society,the material living standards of people have also gradually improved.Most people choose vehicles as the means of transportation,This phenomenon is particularly evident in our country.The increase in the number of cars lead to the traffic accident also increased.As when the car is driving in a curve,the speed is too high,the driver's energy is not concentrated,and the limited distance he can see in front of him,various traffic accidents often occur as a result of other causes.The survey results showed that traffic accidents caused by human factors accounted for 92% of traffic accidents,of which 88.29% were caused by drivers.Both domestic and foreign companies are actively developing active and passive vehicle safety,which will help reduce the occurrence of traffic accidents.At the same time,they are actively promoting intelligent transportation and autopilot technology to continuously pursue the safest,most comfortable and most convenient driving experience,which will also help ease the current state of traffic congestion.The research of foreign autopilot technology began in the 1950 s.The research of autopilot technology in our country started relatively late.At present,most of the researches on autonomous driving technologies at the domestic and abroad have stayed in the testing stage of expressways or special urban roads in closed environments.There is still a certain distance to achieve automatic driving in open environments.By looking at the research done at the domestic and abroad on autopilot and the results achieved,research on autonomous driving techniques under special roads is rarely involved.For many types of roads and complex situations in our country,it is necessary to research on autonomous driving under special road conditions.Therefore,this paper mainly combines common roads into special roads and conducts research on the automatic driving technology of smart cars under special roads.It has great significance for the realization of the intelligent driving of smart cars on various types of roads.Aimed at the common types of roads in our country,we design special roads according to the actual road design specifications and establish the special road models studied in Carsim software.A detailed study on the key technologies such as lane boundary line recognition,radius of curvature estimation,and calculation method of safe vehicle speed involved in the auto-piloting process of smart cars was research ed.In this paper,a lateral controller based on model predictive control is designed to realize the lateral control of autopilot vehicles.The lateral control system is verified by Matlab/Simulink and Carsim co-simulation.The results show that the lateral controller has better control performance.Based on the fuzzy control,the longitudinal control system of the intelligent vehicle is designed to realize the longitudinal control of the autonomous vehicle.The longitudinal control system is verified by Matlab/Simulink and Carsim co-simulation.The simulation results show that the designed longitudinal controller has certain reliability.Finally,the designed lateral controller and longitudinal controller are combined to optimize the parameters of the controller to build an integrated control system for the smart car to realize the automatic driving function of the vehicle.And use the special road designed for simulation test to verify the control performance of the integrated control system and the coordination between the lateral controller and the vertical controller.