With the rapid development of intelligent vehicles technology, it is extremely
urgent to solve environmental pollution and energy crisis. The electric
intelligent vehicles technology can accelerate the world to move towards low
carbonization and intelligence. In this article, one automatic steering system
and its controller are designed with this electric vehicle as the verification
platform. First, based on the digital mock-up (DMU) module of the CATIA digital
prototype, the motion simulation of the automatic steering system is carried
out. Then, the transient dynamics and fatigue analysis module from ANSYS
Workbench 16.0 software is used to simulate and analyze the transmission
mechanism. After verifying the reasonable strength of the real vehicle parts,
the original platform steering system is reformed. Our intelligent vehicle uses
a monocular charge-coupled device (CCD) to detect road marking lines and then
employs a linear two degrees of freedom (2-DOF) vehicle model to establish a
preview deviation model based on the visual navigation lane lines. A vehicle
lateral control method combining fuzzy logic rules, adaptive
proportional-integral-derivative (PID) control strategy, and preview deviation
is designed. A lateral controller is built using Simulink software for lane
tracking simulation, and a good tracking effect is obtained. Finally, the
results of low-speed real vehicle tests show that the vehicle can stably track
the target lane line at low-speed conditions.
