In order to improve the precision of intelligent vehicle path tracking and the stability and comfort of vehicle, the path tracking controller of vehicle is designed and optimized. Firstly, the kinematics and dynamics models of the vehicle are established respectively, and verified by the real vehicle test, the vehicle model close to the real vehicle motion state is obtained to predict the position error of the vehicle at the next time. Secondly, optimization design of vehicle path tracking controller based on high accuracy positioning. The target vehicle speed is controlled by path curvature. When the curvature is too large, the vehicle stability and tracking accuracy are guaranteed by reducing the vehicle speed. The optimal cost function is designed to improve the tracking accuracy of vehicle path, avoid frequent steering and ensure the stability of vehicle. Finally, the tracking effect of the path tracking controller designed in this paper is verified by simulation and real vehicle test. The research shows that the path tracking controller designed in this paper has high tracking accuracy, and the stability and comfort have been improved.
Optimization Design of Vehicle Path Tracking Controller Based on High Accuracy Positioning
2023-08-04
1777274 byte
Conference paper
Electronic Resource
English
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