Abstract
KEYWORDS Intelligent vehicle, Path tracking, Fuzzy PID, Deviation, Control
ABSTRACT In the intelligent vehicle path tracking control research, the vehicle is difficult to establish an accurate mathematical model, this paper design a vehicle position error controller using fuzzy PID to solve the problem. Firstly, simplify the vehicle structure and establish a vehicle model, and then to use the yaw angle error which is got from relationship between vehicle and road relative motion and horizontal position error as the input of fuzzy controller, the parameters of PID controller are adjusted by fuzzy control online. Finally, multiple speeds tracking simulation for double lane change and serpentine path. Simulation results show that the vehicle tracking precision is high and steering feedback is fast when the car is traveling at a low speed, when the vehicle speed increases, the maximum deviation of the tracking is not changed, but the steering wheel rotation angle causes the vehicle stability to decrease.