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Local Trajectory Planning and Control of Smart Vehicle Based on Enhanced Particle Swarm Optimization Method
Technical Paper
2022-01-0224
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
Intelligent driving is an important research direction in the field of artificial intelligence. The fourth industrial revolution represented by the Internet of things provides more prospects for the development of intelligent vehicles. Trajectory planning and tracking control is one of the key technologies of intelligent driving vehicle. This paper takes intelligent driving vehicle as the starting point and establishes a research method of intelligent vehicle trajectory planning based on particle swarm optimization, based on the vehicle kinematics and dynamics model, a model predictive control algorithm is built for trajectory tracking control, the simulation scene is built by Prescan, the vehicle dynamics parameters are set in Carsim, and then the joint simulation is carried out with Simulink.
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Citation
Zhou, G., Zhan, Z., and Wang, J., "Local Trajectory Planning and Control of Smart Vehicle Based on Enhanced Particle Swarm Optimization Method," SAE Technical Paper 2022-01-0224, 2022, https://doi.org/10.4271/2022-01-0224.Also In
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