Research on adaptive control method of autonomous vehicle lateral motion

摘要

This paper studies the application of the adaptive control method in lateral control of the autonomous vehicle. Based on the classical PID control, the design scheme accomplishes online parameter self-tuning of PID controller through the single neuron. It designs a non-model and non-parametric adaptive control method. On the basis of the preview follow theory and two degrees of freedom linear model, we establish the vehicle control model and verify the control method of the lateral control with the MATLAB simulation. The simulation results show that the control method can more effectively control the longitudinal stability of a vehicle and have better real-time performance than methods which need a precise mathematical model or need to define a model and its parameters.