Optimization for Driver Model of Integrated Control of Direction and Speed Based on Improved PSO Algorithm

Based on Classic simulation routine and vehicle speed change in the same direction,and followed with minimum error and physical burden of the minimum principle,a fuzzy PID controller based on improved PSO driver model for integrated control of direction and speed was established. We achieved the optimized scale factor and quantitative factor of fuzzy PID controller by taking advantage of automatic optimization capability of improved PSO algorithm in off-line condition. We obtained a more accurate control effect and simulated the process of driving a car by skilled driver. Simulation results show that,compared to the normal fuzzy PID algorithm,fuzzy PID algorithm optimized by im-proved PSO achieves a better control effect and gets a good description of the characteristics of the car lateral movement,and acquires good results of vertical speed track.