Adaptive Pre-Aim Control of Driverless Vehicle Path Tracking Based on a SSA-BP Neural Network

Aiming at the problem that tracking accuracy of unmanned vehicle path preview control is greatly affected by time, a BP neural network adaptive method proposed. Considering prediction effect limited to initial value setting, time adjuster based on SSA-BP was established; establishing relationship between front wheel steering angle and new direction driver model formed. The together constitute an controller. In order solve influence longitudinal speed change stability, PID variable-speed controller designed realize horizontal vertical coordinated vehicle. Compared with fixed method, results show proposed has strong ability when driving various speeds three consecutive curves Alt 3 test roads, can be used variable speed.