Research On Simulating Vehicle's Autonomous Obstacle Avoidance Based On 6-DOF Platform

With the progress of society,automobiles have become an important means of transportation for human travel.Under the guidance of modern technology,the car has become more intelligent,assisting the driver to drive the car.Self-driving cars are the development direction of smart cars,and now unmanned technologies have become the focus of research and attention.In terms of driverless technology,path planning and trajectory tracking are important technologies to ensure safe and smooth driving of vehicles.In this paper,the local path planning and trajectory tracking of driverless vehicles are studied in detail,and uses the simulation driving platform to analyze the related algorithm to verify,.The specific contents are as follows.Firstly,compare various popular path planning algorithms.And select artificial potential field method as a path planning algorithm suitable for driverless vehicles.By improving the traditional artificial potential field method(APF),the problems of local minimum and unreachable target in the algorithm are solved.Secondly,in view of the poor adaptability of common trajectory tracking algorithms,constraints cannot be added,etc.To this end,an improved path tracking algorithm based on model predictive the improved vehicle dynamics model as a prediction model,with constraints in the guarantee of vehicle dynamics parameters at the same time,improve the calculation speed.The modified algorithm also added constraints on the deflection angle of the front wheels to improve the safety of vehicle driving and the ability to track the path.Furthermore,a co-simulation platform based on CarSim and Matlab/Simulink is designed,and the integrated controller proposed in this paper is simulated and verified that is composed of local path planning algorithm and trajectory tracking algorithm in unmanned technology.The simulation results show that the integrated controller can effectively avoid obstacles,the planned route is safe and smooth.And there is no route jitter.the simulation vehicle can effectively track the route under safe and stableconditions.The simulation results show that the integrated controller can ensure the safety of the vehicle and the comfort of the vehicle while avoiding obstacles.Finally,Six degrees of freedom simulation driving platform is designed,and the control system based on beifu controller is established.Building the vehicle simulation scene in CarSim software.Through UDP protocol,the integrated controller can communicate with the vehicle physical engine and Beifu controller,and realize the function of autonomous obstacle avoidance of parallel driving platform.