Formulation and Theoretical Analysis of the Control Algorithm of the Autonomous Vehicle

Abstract

With the technologies of the autonomous vehicles improving, one of the biggest tasks is safe and effective integration of the autonomous vehicles into the transport system. The safety of such vehicles depends on their ability to move stably and accurately in the desired trajectory. The intellectual control algorithm is the most important system, controlling the movement of the autonomous vehicle. That is why the formulation and analysis of the rational intellectual control algorithms based on different methods is a significant element when seeking that the autonomous vehicles become a valuable road user. A theoretical version of an intellectual control algorithm, which is designed to ensure an accurate following of the desired movement trajectory under different movement conditions, is presented and described in the work. The operation of the algorithm is based on the comparison of the mathematical models of two vehicles and the solution of the optimization task. The described control algorithm is presented in the environment of the software package MATLAB/Simulink, the analysis of the rational operation of the designed algorithm is done.