Design and Simulation Analysis of LQR Controller for Lateral Movement of Unmanned Vehicle
It is necessary to set intelligent control technology to effectively control the lateral position parameters and speed of au-tomatic driving.In order to improve the lateral swing control accuracy of unmanned vehicle,a feedforward regulation LQR con-troller was designed.The path error tracking model was established by using the non-previewing control mode,and the adaptive matrix including the path tracking deviation and vehicle-road parameters was established,and the simulation test was carried out.The double line shift test shows that the range deviation obtained by using the feedforward LQR optimization controller is less than 0.3m,and the course deviation is less than 0.1rad.After adding feedforward control program to LQR controller,the control parameters should be properly adjusted to achieve the goal.The continuous lane change test shows that the LQR controller with feedforward control has a smaller deviation,and the path tracking accuracy has been significantly improved,showing a better control effect.This study has good theoretical support value for improving the operation stability of driverless vehicles and is easy to be popularized and applied.
Self-Driving CarsLateral SwingLinear Optimal ControlFeedforward ControllerContinuous Lane Change
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