Research on Multilayer Perception and Control of Intelligent Vehicles

With the rapid development of computer and microelectronics technology, intelligent vehicle technology has become the latest development frontier of the automobile industry. In order to deeply explore and study the control problems of intelligent vehicles, we have carried out research in the following aspects: the construction of electric four-wheel steering and four-wheel drive mobile platform, the configuration of multi-layer sensing sensors on the mobile platform, and the Development and experimental validation of vehicle motion control algorithms. Based on the preliminary design of the mobile platform construction and sensor configuration scheme, and the completion of the power part construction, we study the motion model of the mobile platform, and add a PID controller to realize the stable control of the longitudinal and steering of the mobile platform. We have finished the structure construction of the mobile platform and the configuration of the sensors and have completed the preliminary debugging of the platform. And eventually we realize the basic performance of the platform, and verify the developed algorithm on the mobile platform.