Analysis of Vision Based Automatic Steering Control for an Articulated All Wheel Steered Vehicle

摘要

For manned drive for the rubber tram to track virtual tracks can easily lead to driver fatigue problems, on the basis of the visual navigation, an automatic steering control method based on the model predictive control is proposed. In the paper, Firstly, the automatic steering control principle based on visual navigation vehicle is introduced; then, the automatic steering predictive controller is designed. Finally, the vehicle Multi-body Dynamics Model and a predictive controller are respectively established by using ADAMS and MATLAB/Simulink software. Through the joint simulation, the tracking effect in the working conditions of straight line and turning was verified. The results show that the designed controller can track the desired trajectory rapidly and smoothly, and has good robustness to speed.