Study on Optimal Speed Planning Hybrid Lateral Control Under Variable Curvature Path Based on LQR-MPC
In order to solve the problems of low tracking accuracy of tracked vehicles under variable curvature path and the traditional single lateral control algorithm cannot effectively coordinate the control performance requirements under different working conditions,an optimal speed planning hybrid lateral control method based on LQR-MPC is proposed.Firstly,an optimal speed planning strategy is proposed,and the simulation results show that the control accuracy of the lateral control algorithm with speed planning is improved by more than 20%.By comparing the characteristic differences between model predictive control(MPC)and optimal linear quadratic(LQR),a hybrid lateral control algorithm based on MPC-LQR is further proposed.The results show that compared with the single algorithm,the control accuracy of the hybrid algorithm is improved by more than 44%,the calculation cost is reduced,and the real-time performance is improved by more than 38%,so as to achieve the balance between real-time performance and control accuracy.Finally,by adding the simulated track slip interference to simulation,it is found that the hybrid control algorithm has certain robustness.
path trackinglateral controloptimal speed planningoptimal quadratic algorithmmodel predictive control algorithm
万方数据
维普
