Research on Hovizontal and Longitudinal Control of Intelligent Driving Vehicle based on LQR
To improve the stability and tracking accuracy of intelligent driving vehicle tracking controller,a lateral tracking control strategy based on LQR control algorithm and driver preview model is proposed,and combined with the longitudinal PID control algorithm to achieve lateral and longitudinal control.Firstly,a LQR controller with feed-forward is established,and the weight parameters of the LQR controller are optimized by gradient descent optimization algorithm.On this basis,the preview model of the driver is introduced,and an adaptive controller for preview distance based on experience is designed.Secondly,dual PID longitudinal controllers are established for velocity control.Finally,the test verification is carried out through Carsim and Matlab/Simulink joint simulation and real vehicle.The results show that the maximum lateral deviation of simulation is less than 0.035 m,the maximum heading deviation is less than 0.09 rad,the overall trend of the planned trajectory can also be well followed under real vehicle test conditions,and the front wheel rotation angle and yaw rate change smoothly.The controller can ensure high-precision and smooth trajectory tracking,and it is more obvious at high velocity.
intelligent driving vehicletrajectory trackingLQRgradient descentdriver model
国家科技期刊平台
NSTL
万方数据
维普
