OPEN ACCESS
This paper aims to acheive the optimal control of the safe distance and speed for the intelligent two-car chasing system in China’s National University Students Intelligent Car Race. For this puprose, a triple closed-loop control strategy was designed based on particle swarm optimization (PSO), and verified through simulation and experiment. The results show that, when the two cars were kept apart by a safe distance, the fastest speed was 2.04m/s, close to that (2m/s) of the champion team. This means the proposed control strategy can effectively control the distance and speed of intelligent car chase, and enjoys strong self-learning ability and adaptability. The findings provide a technical reference for future Intelligent Car Races and lay the basis for the development of intelligent autopilot technology.
three closed -loop control, two-car chasing, particle swarm optimization (PSO), PID
This work was supported in part by National Natural Science Foundation of China under Grant (No. 61403284), Henan open laboratory project (No. KG2016-7), Key scientific research project of colleges and Universities in Henan (No. 18A470014) and The Doctoral fund of Henan Polytechnic University (No. B2017-20).
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