Shi Peilong, Zhao Xuan, Liu Wentao, Zhou Wenhui, Yu Qiang and Zhang Shuo. Composite Control for Path Tracking of an Intelligent Vehicle Base on Particle Swarm Optimization and Bezier Curve. Dynamic Systems and Applications 29 (2020) No. 8, 2635 – 2655

https://doi.org/10.46719/dsa20202987

ABSTRACT.
Aiming at the problem that intelligent vehicles has a serious tracking error and it is difficult to obtain the ideal stability effect under large curvature turning road, this paper proposes that it is utilizing optimized the preview distance by particle swarm optimization (PSO) and a vehicle-road kinematics model by a third-order Bezier curve to control the real time front wheel turning angle to improve the accuracy of path tracking and getting good driving stability. First, design the vehicle longitudinal speed controller based on the theory of automobile dynamics; obtain the fitness function values of different preview distances by the PSO algorithm, utilize the fitness function to optimally select the preview distance in accordance with the position error, direction error, steering wheel busyness, and lateral acceleration parameters; Finally, construct a third-order Bezier curve in real time and obtain the transient path curvature of the large-curve steering according to the vehicle position and preview point position information, thereby, acquire the real-time front wheel angle input in the light of the vehicle-road kinematic model. Simulink/ CarSim joint simulation results show that the control strategy can achieve expect tracking of the reference path under right-angle turns and serpentine conditions, while ensuring good tracking stability.

Keywords: Intelligent vehicle, path tracking, speed control, Bezier curve, PSO.