Analyzing the influence of automatic steering system on the trajectory tracking accuracy of intelligent vehicle

摘要

In this paper, the influence of interference torques, time delay and noise of automatic steering system (ASS) on trajectory tracking accuracy of intelligent vehicle (IV) is analyzed to further study the coupling mechanism between automatic steering control system and IV trajectory tracking control system. The system architecture of ASS and IV trajectory tracking control system is briefly introduced at first. The correlation controller models are then established based on nonlinear ASS and IV dynamic models. The influence of ASS on the trajectory tracking of IV is validated through simulations with various forms of ASS nonlinear factors. And the results show clearly that the interference torques of ASS have great influence on the accuracy of IV trajectory tracking system, especially in the lateral deviation of IV trajectory tracking system, the noise and time delay of ASS have almost no influence on lateral deviation and azimuth deviation of IV trajectory tracking.