Research on trajectory following control of platoon vehicles based on fuzzy theory

In view of the problems of tire rolling resistance and longitudinal wind resistance in vehicle driving, a planar four-wheel seven-degree-of-freedom vehicle dynamics model was established. For the purpose of realize vehicle platooning, a longitudinal following control method based on fuzzy PID was proposed, and the following control effect was analyzed on a sinusoidal path. The experimental results show that this method can enable the following vehicle to maintain a stable longitudinal desired driving distance, and has a certain improvement in trajectory following accuracy and formation stability.