A New Kind of Robust Design Method of Intelligent Vehicle Lateral Control

摘要

There exist some flaws in current intelligent vehicle lateral controller design methods. Aim at the flaws, a new kind of robust design method was proposed. In the new method, longitudinal velocity, cornering stiffness of the tires, time constant of steering actor and path's effects on vehicle lateral dynamic pattern were fully considered. Fuzzy logic was used as control strategy. Key parameters, that can exert dominant on vehicle lateral dynamics, were reasonably selected to produce design pattern, which is more complete and has more dynamics information than real pattern. GA was used to automatically search and optimize fuzzy logical controller under the design pattern. The simulations show that the new method is effective.