An intelligent vehicle based on an improved PID speed control algorithm for driving trend graphs

In order to improve the accuracy and stability of the intelligent vehicle speed control. The control method is based on the traditional PID control algorithm; the error of setting speed and actual speed from driving trend graphs are used as the input of PID controller. In this paper, we proposed an improved PID speed control algorithm for driving trend graphs in intelligent vehicle. First, built the driving trend graphs, driving trend graphs is the vehicle road environment perception systems with Log-Polar transform, it is in accordance with characteristics of human perception, and it is established according to collection of camera, radar, navigation, other on-board sensors data and the vehicle status parameters. Second, according to the driving trend graph set the acceleration and deceleration distance, obtain the corresponding acceleration. Last, Establish the mathematical model of the acceleration between throttle increment and brake grade, through the throttle actuator and the brake actuator to control the speed of the engine, and the output is vehicle’s actual speed.