基于改进LQR的车辆路径跟踪横向控制策略OA北大核心CSTPCD

Aiming at the problem that it is difficult for intelligent vehicles to consider both accuracy and pass safety margin of control in the process of passing through curves or narrow area,a lateral control strategy based on LQR(linear quadratic regulator)of path tracking was proposed.Firstly,vehicle dynamics model was established.Secondly,a controller based on linear quadratic regulator theory was designed for lateral control.To eliminate the steady-state error in the process of lateral control,the feedforward control was added to improve the control accuracy of path tracking.The concept of vehicle body deviation was also proposed to reduce the possibility of collision between the vehicle and the surrounding obstacles,and the constraint of vehicle size was added to the control strategy to improve the pass ability of the vehicle,the control input can ensure the control accuracy and pass safety margin.Finally,the garage scenario and the continuous variable curvature narrow curve scenario containing a variety of curves were constructed in PreScan,and respectively for comparative simulation test with Matlab/Simulink.The simulation results show that the control strategy of the improved linear quadratic regulator has a good tracking effect in the above scenarios and can significantly improve the control accuracy and passing safety margin of vehicles in the process of path tracking.