Analysis of longitudinal control strategy of the intelligent vehicle
PANG Tongjia
WANG Jinbo
TIAN Yuyang
ZHANG Weihai
Abstract：To address the issues of poor adaptability and slow response when using traditional proportional integral derivative(PID)control for the longitudinal operation of intelligent vehicles,based on combined PID control and fuzzy control theory,a simulation control model is established using MATLAB/Simulink,the upper controller take the deviation and rate of deviation between the desired speed and actual speed as input parameters for the fuzzy controller in the simulation model.Based on fuzzy rules,the upper controller outputs proportional,integral,and derivative coefficients,which are weighted with the traditional PID controller algorithm to produce the desired acceleration of the vehicle.The lower controller switches the vehicle's drive or braking through an acceleration-braking calibration table.A vehicle operation platform is built using Carsim,and the simulation control model is integrated with the vehicle operation platform.Simulations comparing traditional PID and fuzzy PID longitudinal control strategies are conducted at desired speeds of 5,10,16,and 25 m/s.The results show that the average speed deviation of the traditional PID control strategy is approximately 0.122 m/s,while the average speed deviation of the fuzzy PID control strategy is about 0.015 m/s.The use of the fuzzy PID control strategy significantly improves control accuracy,and the response speed is faster.
Keywords：longitudinal movementfuzzy-PIDcontrollerintelligent vehicle
Publication Date：2024-08-28
Online Publishing Date：2026-05-22(First online date of this platform, not the publication date of the document)
Pages：7( 77-82,95 )