1.Purpose and Significance (Including domestic and foreign research statusanalysis)

The rapid development ofmodern electronic information and network technology has promoted theintelligence of many industries. This wave extends to the automotive industryand various types of driverless cars have emerged. ^[1]。

In the past 10 years, theequipment technology of China's environmental sanitation vehicles has developedrapidly. The types and functions of the products have been able to basicallymeet the general operating requirements. With the rapid development of economyand society, the appearance of urban environmental hygiene and people’sincreasing demands on living environment quality, especially the BeijingOlympic Games and the Shanghai World Expo, the requirements for equipment andtechnology of environmental sanitation vehicles have been raised. Sanitationvehicles and equipment will be integrated, environmental-protected, humanized,and digitized. They will be developed from a single functional feature ofoperations to integrated functional features integrating operations,information, and supervision, so that the level of domestic sanitationequipment will meet the requirements of modern international standards. Urbandevelopment needs. As a kind of sanitation vehicle, the intelligent driverlessgarbage transfer vehicle plays an important role in transport regulation.

For the research-drivenunmanned intelligent garbage transfer vehicle, the vehicle control technologyis its core, including several parts such as speed control and directioncontrol. Among intelligent control technologies of unmanned intelligent garbagetransfer vehicles, smart steering system design is one of the key technologiesfor realizing unmanned driving ^[2]。

Because the environment ofthe driverless intelligent garbage transfer vehicle is relatively complex, weneed to obtain information on the road conditions, vehicle position, andobstacles of the driverless intelligent garbage transfer vehicle throughon-board sensors such as radar and cameras, and none. The information of theECU's comprehensive environmental information, the status of the vehicleitself, and the expected movement path of the driver is used to analyze thecontrol strategy to control the steering of the unmanned intelligent garbagetransfer vehicle to ensure that the vehicle is safe and reliable. Drive on theroad and complete the desired target path.

1.1Foreign Research Status

As early as the 1970s,developed countries have begun to study driverless cars. The Ohio StateUniversity (OSU) started to conduct research on automatic steering control ofvehicles in 1962 with the support of the local road transport managementdepartment and the US Highways Bureau, becoming the first university to carryout this research. ^[3]。

And, with the funding ofthe Ohio Department of Transportation and the Federal Highway Administration(FHWA), a 15-year (1965-1980) study of vehicle steering and speed controlbegan. ^[4]。