The problem of the driverless vehicle specified path stability control

International Automobile Scientific Forum (IASF-2017) Intelligent Transport Systems

Buznikov, S.E.^1 ; Endachev, D.V.^1 ; Elkin, D.S.^1 ; Strukov, V.O.^1

FSUE NAMI, Moscow, Russia^1

关键词: Combined navigation;    Comparative analysis;    Hardware and software;    Quadratic functionals;    Software and hardwares;    Technical solutions;    Vehicle control system;    Wheel steering angle;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/315/1/012006/pdf
DOI  :  10.1088/1757-899X/315/1/012006

来源: IOP

【 摘 要 】

Currently the effort of many leading foreign companies is focused on creation of driverless transport for transportation of cargo and passengers. Among many practical problems arising while creating driverless vehicles, the problem of the specified path stability control occupies a central place. The purpose of this paper is formalization of the problem in question in terms of the quadratic functional of the control quality, the comparative analysis of the possible solutions and justification of the choice of the optimum technical solution. As square value of the integral of the deviation from the specified path is proposed as the quadratic functional of the control quality. For generation of the set of software and hardware solution variants the Zwicky "morphological box" method is used within the hardware and software environments. The heading control algorithms use the wheel steering angle data and the deviation from the lane centerline (specified path) calculated based on the navigation data and the data from the video system. Where the video system does not detect the road marking, the control is carried out based on the wheel navigation system data and where recognizable road marking exits - based on to the video system data. The analysis of the test results allows making the conclusion that the application of the combined navigation system algorithms that provide quasi-optimum solution of the problem while meeting the strict functional limits for the technical and economic indicators of the driverless vehicle control system under development is effective.