A Maximum Speed Planning and Control Method of Intelligent Vehicle

In order to enhance the safety performance of intelligent vehicles and better exploit their maximum performance, this study investigates trajectory planning and motion control of vehicles under extreme conditions where tire friction reaches saturation, drawing inspiration from the motion characteristics of racing cars. Based on the three-degree-of-freedom vehicle dynamics model, an optimal control-based approach for generating the fastest trajectory is devised, and the vehicle’s optimal trajectory is obtained by solving an interior-point optimization problem. To address the issue of low control accuracy during high-speed driving, a feedforward-feedback lateral controller and a longitudinal controller based on throttle-brake calibration tables are designed. Simulation verification is conducted using a combined CarSim and Matlab environment. Finally, through comparative experiments, the effectiveness of the proposed lateral and longitudinal controllers in high-speed environments is validated.