In order to solve the problem of poor tracking accuracy and stability of LQR controller for complex roads under fixed weights,a control method for predicting feedforward rotation angle compensation transverse and longitudi-nal system based on PSO algorithm optimization was proposed.The LQR controller optimized by PSO is used for lateral control,and the dual PID controller of position PID and speed PID is used for longitudinal control for path tracking,and the position error is compensated for the front wheel angle by the PID controller to solve the problem of understeer of the vehicle.Through the co-simulation of MATLAB/Simulink and Carsim,the results show that the maximum lateral error is reduced by about 51％in the side parking experiment.In the obstacle avoidance and lane change overtaking experiment,the maximum lateral error is reduced by about 49％.
关键词
路径跟踪/PSO算法/LQR控制器/横纵向控制
Key words
path tracing/PSO algorithm/LQR controller/horizontal and longitudinal control
维普
万方数据