Intelligent Vehicle Path Following Method Based on Constrained Arc Fitting 2019-01-0683
Path following is an important part of intelligent driving, belonging to vehicle lateral control. It is one of the research focuses to follow the desired path steadily and accurately. In order to realize the path following analysis and verification of the intelligent vehicle, a two degrees of freedom vehicle lateral dynamics model is established. Based on that, a curvature feedforward control model which can accurately describe the mapping relationship between the steering angle and the path curvature is proposed and established. Then, In order to obtain accurate curvature information, based on the least squares theory, a constrained arc fitting method is proposed to calculate the path curvature. Combined with curvature feedforward control model, the path following control model of intelligent vehicle is established. Then, the path following effect of the path following method and the existing multi-point preview following method is compared by simulation method. Finally, the real vehicle test is used to verify the method of path following. The results show that the method has good stability and accuracy.