Study on virtual path track control for intelligent vehicle

Intelligent vehicle usually needs track some virtual path in short time when it changes lane or avoids obstacle. During this time there may be no lateral error information and that makes lateral error-based controller a functional. In order to solve this problem, one angular rate gyro-based virtual path track control method is proposed. Angular rate gyro measures vehicle´s yaw rate. Yaw angle is the first integral of the yaw rate. Yaw rate and yaw angle are the controller´s inputs. Fuzzy logic and look-ahead control are used as control strategy. In the design process, the controller´s parameters are searched and optimized by genetic algorithm, and key vehicle motion parameters select technology and noise-add technology are used to improve the controller´s robustness. The simulation results show that the controller can satisfy the accurate performance in the short period of virtual path track.