Research On Lateral,Longitudinal And Integrated Control System Of Intelligent Vehicles

With the continuous development of science and technology,intelligent automobile has become an inevitable trend of social development nowadays.Intelligent vehicle is a high-tech fusion body integrating computer,information fusion,visual sensing,automatic control and communication.It is the frontier field of vehicle technology research in the future and the new direction of the future development of automobile industry,and also brings new solutions and ideas for solving the increasingly serious traffic congestion and other problems.At this stage,smart cars still have a lot of technology to be further optimized.The focus of this paper is the intelligentization of one of the automobile four modernizations(electrification,intelligentization,networking and sharing),and the intelligent automobile is one of the key technologies in the research of intelligent vehicles,which is the basis of other related research,including horizontal control,longitudinal control and horizontal and vertical comprehensive coordination control.Based on the dynamic model of transverse and longitudinal control of intelligent vehicles,this paper designs a stable and feasible horizontal,longitudinal control and comprehensive coordination control system for intelligent vehicles,and makes research and exploration on this basis.The basis of research is to have solid theoretical knowledge and build a feasible research framework.In order to carry on the research better,this paper constructs the system architecture of the intelligent vehicle,including the signal perception recognition layer,the decision control layer and the execution layer.This paper expounds the research knowledge and related theoretical principles that need to be used in this study,such as the relevant principle of PID controller,the setting method of control parameters,the influence of parameter setting size on control effect,the mathematical principle of fuzzy control,the basic control structure and the method of fuzzy controller design.As the basis of intelligent vehicle research,the horizontal and longitudinal control system of vehicles is very important to build longitudinal and transverse dynamics models.Based on certain hypotheses and simplified conditions,combined with longitudinal and transverse dynamics model,this paper validates the transverse and longitudinal dynamics model of the vehicle,and then simulates the dynamic model of the vehicle transverse,longitudinal and integrated control system with the Carsim respectively,which has achieved the verification of the designed vehicles transverse,longitudinal and integrated cooperative Control system.And the design of different road models in Carsim,so that the effect of verification more intuitive response.