Research on Intelligent Vehicle Path Tracking with Subsystems Based on Multimodel Intelligent Hierarchical Control Theory

In this paper, a multimodel intelligent hierarchical control (MIHC) algorithm with dual systems is proposed to reduce the performance conflict between a path-tracking motion system and its subsystems during the motion control process of an intelligent vehicle (IV). The working principle of the MIHC algorithm is briefly introduced first, and the dynamic models of IV and the subsystems are constructed. Then, correlation controller models based on MIHC are established. Lastly, the influence of the subsystems on the trajectory tracking of IV is validated through simulations and hardware-in-the-loop test with various condition forms. Results show that the control performance of the automatic steering system has a great influence on the path-tracking accuracy compared with that of the antilock braking system.