A Global Optimal Path Planning and Controller Design Algorithm for Intelligent Vehicles

摘要

Autonomous vehicle guidance and trajectory planning is one of the key technologies in the autonomous control system for intelligent vehicles. Firstly, the target pursuit model for intelligent vehicles was established and described in this text. Then, the research work for global motion planning was carried out based on Stackelberg Differential Game Theory, and the global optimal solution was obtained by using the survival type differential game. Finally, to overcome errors, we use a polynomial method to achieve the smooth motion planning. So, based on Terminal Sliding Mode method, the Active Front Steering controller design was used to calculate the desired active wheel angle for intelligent vehicle path tracking. The simulation and experiment results demonstrate the feasibility and effectiveness of this method for intelligent vehicles’ path planning and tracking.