Longitudinal motion control of autonomous vehicle based on feedforward-fuzzy PI

Xin Jiang; Haitao Xing; Shenghua Chen

doi:10.1117/12.2640337

1 August 2022 Longitudinal motion control of autonomous vehicle based on feedforward-fuzzy PI

Xin Jiang, Haitao Xing, Shenghua Chen

Proceedings Volume 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022); 1225742 (2022) https://doi.org/10.1117/12.2640337
Event: 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 2022, Guangzhou, China

Abstract

Longitudinal motion control of unmanned vehicles refers to the accurate speed control by driving or braking system. Due to the nonlinearity and parameter uncertainties of the vehicle system and the desired speed changing in various driving environment, the longitudinal motion control of unmanned vehicles is difficult to realize. To solve the problem, a longitudinal motion controller of autonomous vehicle based on feedforward-fuzzy PI is designed in this paper, which is divided into upper controller and lower controller according to the control flow. The upper controller is the proposed feedforward-fuzzy PI controller, including a feedforward controller and a fuzzy PI controller. The lower controller includes a logic switching controller and an inverse longitudinal vehicle model. In order to verify the effectiveness of the proposed controller, Simulink and CarSim are used to build a co-simulation platform. The simulation results show that when the autonomous vehicle desired speed changes, the control accuracy of the proposed controller is higher than that of the traditional controller, and thus the longitudinal motion control of the vehicle can be better realized.

Citation Download Citation

Xin Jiang, Haitao Xing, and Shenghua Chen "Longitudinal motion control of autonomous vehicle based on feedforward-fuzzy PI", Proc. SPIE 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 1225742 (1 August 2022); https://doi.org/10.1117/12.2640337

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available