An unmanned vehicle automatic steering control method based on multilayer fuzzy control

In order to replace driver's steering operation and increase driving safety, the present invention proposes an unmanned vehicle steering control method based on multi-layer fuzzy control. The method comprises the following steps: firstly, a vehicle system detects the vehicle position and the driving state information in real time through an environment sensing module; then, according to the vehicle position information and a predetermined vehicle target trajectory, a PID parameter is finely tuned through a fuzzy adaptive algorithm, and 'track-angle-current' three-layer PID adjustment is carried out to output an EPS control signal (PWM); finally, EPS variable drive ratio control is performed through fuzzy control according to the vehicle speed and steering angle during driving; and when a vehicle enters a curve at a high speed, the longitudinal vehicle speed is slightly reduced by the fuzzy PID algorithm according to the steering angle and the error between the vehicle target and the actual trajectory. The met