Design And Research On The Lateral And Longitudinal Control System Of Driverless Vehicle

With the continuous progress of human society,science and technology are developing in the direction of intelligence and automation.Driverless vehicle is an important part of the construction of intelligent transportation,which aims to solve the problem of traffic safety,improve travel efficiency,and ultimately liberate the human labor force.Longitudinal and lateral control system is the core of driverless vehicle.In this paper,it is designed and studied.(1)For the longitudinal control system,firstly,in order to ensure the stability of speed control,an improved incremental PID control algorithm is designed for throttle control.Secondly,in order to avoid vehicle shaking caused by repeatedly pressing the brake pedal,a fuzzy control braking algorithm is designed for braking control.Finally,in order to make the transition between throttle and brake smooth,a throttle brake switching control strategy based on controller state and speed deviation is proposed.(2)For the lateral control system,aiming at the complex calculation,poor stability and the lack of precision of pure fuzzy control algorithm,a fuzzy control algorithm based on heading deviation and path tracking is designed to ensure the stability and timeliness of steering.(3)After the analysis and design of the longitudinal and lateral control system algorithm,this paper carries out the transformation of the wire control on the electric vehicle platform.The accelerator and brake controller for longitudinal control and the steering controller for lateral control are connected to the original vehicle line,and the communication is realized through the CAN bus.At the same time,the brake motor is added to implement the automatic braking.In order to verify the practicability and reliability of the control system designed in this paper.The loop track tracking test and emergency braking test were carried out on the modified real vehicle platform.Through two experiments,the acceleration and deceleration control,steering control and emergency braking control of the vehicle are verified,and the control effect is good.It also proves that the design of the lateral and longitudinal control system is effective and reliable.