华中科技大学学报（自然科学版）2024，Vol.52Issue(3)：135-141,7.DOI:10.13245/j.hust.240740
基于改进LQR的车辆路径跟踪横向控制策略
Lateral control strategy of vehicle path tracking based on improved LQR
摘要
Abstract
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.关键词
路径跟踪/横向控制/线性二次型调节器(LQR)/弯道区域/安全裕度/控制精度Key words
path tracking/lateral control/linear quadratic regulator(LQR)/curve scene/safety margin/control accuracy分类
交通工程引用本文复制引用
周卫琪,赵羿寒,刘擎超,陈龙..基于改进LQR的车辆路径跟踪横向控制策略[J].华中科技大学学报（自然科学版）,2024,52(3):135-141,7.基金项目
国家自然科学基金资助项目(51905223,U20A20331) （51905223,U20A20331）
江苏省重点研发计划资助项目(BE2021011-3). （BE2021011-3）
