Font Size: a A A

Design Of Controlled Vehicle Path Tracking Control For Automatic Driving Field Test

Posted on:2023-03-30Degree:MasterType:Thesis
Country:ChinaCandidate:L G JiFull Text:PDF
GTID:2542306821978899Subject:engineering
Abstract/Summary:PDF Full Text Request
The national " The Fourteenth Five-Year Plan " takes autonomous vehicle as one of the key directions of the automobile industry.Driving safety in complex traffic scenarios is the key problem that restricts the large-scale application of automatic driving technology in the automotive industry.Field test equipment is an important means to test and improve the safety performance of autonomous vehicle and improve the efficiency of the research and development process of autonomous vehicle.The higher the level of auto driving,the richer the test scenarios.At present,the closed field test system technology of high-end autonomous vehicle is monopolized by foreign companies.Compared with foreign manufacturers,China has not independently developed a set of self driving vehicle field test system with complete functions and high precision,which seriously restricts the development and regulatory testing of the autonomous brand vehicle active safety system,Therefore,this paper makes a theoretical study on the problems that the path tracking control accuracy and control effect can not meet the control requirements in China,and verifies the feasibility of the controlled vehicle path tracking control algorithm studied in this paper through the field test.The main research contents of this paper include the following aspects:The model characteristics of controlled vehicle path tracking system are studied,and the geometric model of controlled vehicle motion is established.Based on the system model,the design method of path tracking controller based on modified Stanley algorithm is proposed to solve the problem of yaw angle control stability.The model characteristics of the controlled vehicle path tracking system are studied.Based on the controlled vehicle dynamics model,under the dual challenges of uncertain internal parameters and external disturbances,a path tracking controller design based on the preset performance of a given time is proposed to achieve the tracking error within a specified time to achieve the preset control accuracy.Referring to the test standard of China’s intelligent vehicle index evaluation system,the simulation test analysis for controlled vehicles is carried out on the platform of carsimsimulink simulation software.The accuracy of the two control methods can meet the requirements of the lateral displacement control process,and the compliance control effect can be achieved at the same time.Under the test standard of China intelligent vehicle index evaluation system,the driverless vehicle field test system is used to test the path tracking control method proposed in this paper.Through the analysis of the real vehicle test data,the field test results are basically consistent with the simulation test results.It is verified that the control method proposed in this paper can achieve the expected control objectives under the real vehicle test scenario standards,so as to achieve the development and testing of the auto drive system of L2,L3 and even L4 vehicles instead of the driver,so as to ensure the compliance of the vehicle active safety,and provide a favorable support for the development and testing of autopilot vehicles in China.
Keywords/Search Tags:Automatic Driving, Path Tracking, Driving Robots, Stanley Preview Control, Preset Performance Control
PDF Full Text Request
Related items