Research On The Control Method Of Car Remote Driving System

With the continuous progress of society,vehicles,as a means of transport,are slowly entering every family.At the same time,with the increasing number of vehicles,parking is becoming more and more difficult,especially in densely populated cities.In order to improve the safety of vehicle driving and parking and realize the information interaction between people and vehicle environment,the study of remote driving has become more and more urgent.At present,most of the remote control vehicles are tracked vehicles,and the mass production of wheeled vehicles can only be manually driven inside the vehicle.And there are few studies in this direction at home and abroad.Based on this,the realization of remote driving on family cars has good application prospects.In this thesis,a vehicle remote driving system is proposed,and the overall system architecture is designed in detail.Then the functions of remote control,driving,steering and braking are analyzed.Finally,the design of the control system is studied in depth,and the vehicle is controlled by the combination of human-machine.The target requirement of remote driving vehicle remote control method is worked out.The remote control driving system is divided into a remote control steering subsystem and a remote driving subsystem.First,the two order dynamic model of spring damping for steering and transmission module is established and simulated.By using the PI control method of speed loop and current loop,the closed loop control of remote control steering motor is realized.The control model is established by MATLAB,and the feasibility of the control method is verified by model simulation.Secondly,according to the method based on model design,the control algorithm model and the controlled object model are set up respectively,and a remote control system simulation model with closed loop control is combined.By comparing the simulation results with the experimental results,the error between the model and the test data is within a reasonable range,and the simulation model can be used for the analysis of control algorithm.Finally,the control algorithm model and the controlled object model and vehicle model are jointly simulated and verified by real vehicle test.