Research on Vehicle Control Strategy Based on Linear Quadratic Optimal-PID Algorithm
Aiming at the problem of active tracking accuracy of vehicle in tracking process,a design method of upper controller based on linear quadratic(LQR)-PID optimal control strategy is proposed.Firstly,CarSim vehicle model is established according to the dynamic and static characteristics and motion characteristics of vehicle,and the corresponding performance index is designed.Then,LQR linear quadratic optimal control and PID control are used to design two kinds of car-following strategies under different road conditions.The data collected by the sensor under the actual driving conditions is used as the input of the system,and the output is obtained by the control strategy designed in this paper.The joint simulation shows that the linear quadratic-PID optimal control strategy can effectively reduce the steady-state error of the vehicle in the following process under different working conditions,and can significantly improve the driving experience of the vehicle.
vehicleslinear quadratic optimalPIDcontrol strategyautomatic drivinglongitudinal dynamics control
国家科技期刊平台
NSTL
万方数据
