Reaseach On Path Following Control Of Autonomous Vehicle

Autonomous vehicle is a kind of vehicle which can realize automatic driving in specific regional environment.Compared with traditional vehicles,autonomous vehicles can effectively improve driving safety and road utilization.Therefore,it has become an important research direction in the automotive industry.Path following control is one of the most important problems in autonomous unmanned driving technology.Based on the path following model of autonomous vehicle,this paper designs the kind of controllers to solve the control problems under parameter uncertainty,controller disturbance and state unmeasurability.The main work is listed as follows:(1)In this paper,consider parameter uncertainties in cruising the longitudinal velocity of the vehicle,the mass of the vehicle,the moment of inertia,and the cornering stiffness of the tire regarded as uncertain parameters,a robust H∞ controller with multi-parameter dependence is designed.And a new trapezoidal polytope is used to describe the relevant parameters of the vehicle’s longitudinal velocity,which may reduce the conservativeness of the designed controller.Finally,the simulation is carried out on two different scenarios,and the results demonstrate that the designed controller can well achieve the path following performance.(2)In this paper,aimed at dealing with the controller gain disturbance during the path following,a non-fragile controller is designed to achieve the path following performance,and the longitudinal velocity of the vehicle is considered time-varying.At the same time,due to the limited steering angle of the front wheels of the vehicle,actuator saturation is also considered.Finally,it is verified by experimental simulation that the designed non-fragile controller can make the vehicle achieve the purpose of path following.(3)In this paper,a static output feedback controller is designed to deal with the unmeasurable sideslip angle and lateral velocity in the process of vehicle path following control.And the longitudinal velocity of the vehicle is considered time-varying.A twostep method is used to solve the controller gain,which effectively avoids the complicated iterative calculation problem in solving the static output feedback controller gain in the past.Finally,the path following performance of the designed controller is verified through experimental simulation.