Research On Motion Control Of Driverless Vehicle

Unmanned vehicle is an important part of intelligent transportation,one of core issues of unmanned vehicle research field is motion control,this paper use the front wheel steering of unmanned vehicle as the research object,According to build vehicle longitudinal dynamics model,lateral dynamics model,the longitudinal,lateral and vertical integrated controller is designed for motion control of unmanned vehicle simulation research.In this paper,main work is as follows:First of all,the longitudinal control of unmanned vehicle was studied,established the vehicle vehicle longitudinal model and designed the vehicle longitudinal hierarchical control.The upper controller based on model predictive control method are applied to solve the expect acceleration of the vehicle,the lower controller for throttle and brake control adopts PID control structure,then considering the situation of a certain slope running and two kinds of working condition of the speed of step change and sine change,based on the Carsim and MATLAB/Simulink to build simulation environment and conduct joint simulation,longitudinal controller is verified feasible.Secondly,the paper studies the lateral control of unmanned vehicle,based on lateral controller of model predictive control method,studies the effects of lateral controller in normal roads and slippery road and under the condition of different speed,and considers the effects of the main parameters for controller to finish sampling time,predict time domain and Control time domain parameter selection,based on Carsim and Matlab/simulink,the joint simulation verifies feasibility of the designed lateral controller.Finally,horizontal and vertical control of unmanned vehicle was studied,with The whole control structure of Horizontal and vertical control structure is established,and the longitudinal controller to follow the speed designed,the paper respectively introduces of the velocity planning module and the longitudinal velocity fuzzy PID control module and sets the normal working condition of the simulation of two kinds of roads and slippery road,Transverse longitudinal controller and the lateral controller are simulated respectively to Verify the transverse longitudinal controller feasibility and superiority.