关键词: 智能车辆；路径跟踪；横向控制；模糊滑膜控制；模糊 PID 控制

Abstract: The existing lateral control technology can ensure the vehicle running in a simple environment, but the path tracking effect is poor and the vehicle stability is low in the road environment with low adhesion coefficient. In order to solve this problem, the horizontal control of intelligent vehicle will be studied in this paper. In this paper, a two-layer lateral control algorithm using fuzzy synovial film control on the upper layer and fuzzy proportion integration differentiation (PID) control on the lower layer is designed. On the basis of enhancing the handling stability, the control effect of intelligent vehicle under low adhesion road surface is improved. The co-simulation form of MATLAB/Simulink and CarSim is used to verify its performance by selecting double line shifting condition and constant curvature condition. The simulation results show that the vehicle lateral controller designed in this paper has high path tracking accuracy and good driving stability.

Key words: Intelligent vehicle; Path tracking; Lateral control; Fuzzy synovial control; Fuzzy PID control