Path-following cooperative control strategies for driverless vehicles

Abstract

In order to improve the tracking accuracy of unmanned vehicle paths, while taking into account steering frequency and vehicle stability, and to be able to identify nonlinear road realities, a comprehensive collaborative governance strategy for unmanned vehicle driving is proposed, taking into account real-time influencing factors on the road as far as possible. On the basis of lateral trajectory following control, a driver operation discrimination module is introduced, a vehicle dynamics model and a tyre model are established, and an upper trajectory following lateral controller is designed using strong robust structural control theory based on the assumption of steady-state circular motion, optimal pre-sighting theory. The fuzzy controller with gain adjustment and the underlying actuator controller are used to reduce the sliding mode controller jitter in the automatic steering mode and to reduce the error of the theoretical analysis. For the ESP system, a more robust non-linearised fuzzy PID control strategy is used to improve it.