Optimal Design of Horizontal LQR Controller for Automatic Driving Based on Improved Genetic Algorithm
In order to solve the problem of low control accuracy and poor stability of the quadratic regulator(LQR)in automatic driving trajectory tracking due to the difficulty in selecting the weight coefficient matrix Qand R,a LQR lateral trajectory tracking control method based on improved genetic optimization algorithm is proposed.The trajectory tracking error dynamic model is constructed based on the two-degrees-of-freedom vehicle dynamics model.The feedforward control with prediction module is used to eliminate the steady-state error caused by model simplification,and the optimal front wheel angle control is obtained by controller solution.MATLAB/Simulink and Carsim are used to build the system simulation model for simulation tests.The simulation results show that the GA adaptive coefficient LQR controller has better tracking advantages than the fixed weighting factors LQR control,no matter in the double-shift condition or continuous lane changing condition,and at the same time,it can ensure better accuracy and stability in trajectory tracking.
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