Design of autonomous vehicle queue steering and lane changing collaborative control system based on fuzzy MPC
Traditional autonomous vehicle queue control methods mainly rely on simple rules and sensor information,and often find it difficult to achieve ideal stability and real-time performance in complex scenarios.To improve the driving stability and real-time performance of autonomous vehicle queues during turning and lane changing under different working conditions,a Model-based Predictive Control(MPC)based collaborative control system design for autonomous vehicle queues turning and lane changing is proposed.The hardware structure of the system includes a power management module,a motor drive module,a sensor acquisition module,and a communication module.Establish a mathematical model of autonomous vehicle queue based on hardware structure,and obtain the driving characteristics of autonomous vehicle queue.Introducing fuzzy control strategy into the MPC controller to complete the software design of the system,achieving collaborative control of autonomous vehicle queue turning and lane changing.The experimental results show that the proposed method has high control accuracy and real-time performance,and can effectively improve the driving stability of the vehicle.
sensor acquisitionvehicle queue modelMPCfuzzy control strategycollaborative control of turning and lane changing
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