河南科技大学学报（自然科学版）2024，Vol.45Issue(2)：30-43,55,15.DOI:10.15926/j.cnki.issn1672-6871.2024.02.005
基于LQR的智能驾驶汽车横纵向控制研究
Research on Hovizontal and Longitudinal Control of Intelligent Driving Vehicle based on LQR
摘要
Abstract
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.关键词
智能驾驶汽车/轨迹跟踪/线性二次型/梯度下降法/驾驶员模型Key words
intelligent driving vehicle/trajectory tracking/LQR/gradient descent/driver model分类
信息技术与安全科学引用本文复制引用
高爱云,肖寒,付主木..基于LQR的智能驾驶汽车横纵向控制研究[J].河南科技大学学报（自然科学版）,2024,45(2):30-43,55,15.基金项目
国家自然科学基金项目(62371182) （62371182）
