Title :
A path tracking algorithm of intelligent vehicle by preview strategy
Author :
Rui Liu ; Duan Jianmin
Author_Institution :
Intell. Meas. & Control Lab., Beijing Univ. of Technol., Beijing, China
Abstract :
Based on the characteristics of the intelligent vehicle during steering, this work designed a control system that is easy to be applied. This work built a dynamical model of vehicle by two-freedom model, in which the method of calculating the look-ahead distance is improved by the modification to preview strategy based on the pure pursuit tracking method, so that the vehicle can get close to the desired path smoothly. The controller is designed by a linear PD control method, which decreases the tracking error. To make sure that the process can get the desired steering angle to control the vehicle accurately, this work designed a PID closed-loop control method for steering angle at underlying control. In the end, the test proved the feasibility and effectiveness of the method. With this method, the dynamic characteristics of the controller and the adaptability can be improved.
Keywords :
PD control; automated highways; closed loop systems; control system synthesis; linear systems; path planning; steering systems; three-term control; vehicle dynamics; PID closed-loop control method; control system design; intelligent vehicle; linear PD control method; look-ahead distance calculation; path tracking algorithm; preview strategy; pure pursuit tracking method; steering angle; tracking error reduction; two-freedom model; vehicle dynamical model; Algorithm design and analysis; Heuristic algorithms; Intelligent vehicles; Pursuit algorithms; Vehicle dynamics; Vehicles; Wheels; Intelligent Vehicle; PD control; PID control; look-ahead distance; path tracking;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
