农业装备与车辆工程2025，Vol.63Issue(12)：29-36,8.DOI:10.3969/j.issn.1673-3142.2025.12.006
面向轨迹跟踪的智能汽车横向H∞-LQR鲁棒控制方法研究
Research on H∞-LQR robust lateral control for intelligent vehicle trajectory tracking
黄玉淡 1钟勇 1陈贵川1
作者信息
- 1. 福建省汽车电子与电驱动技术重点实验室(福建理工大学),福建 福州 350118
- 折叠
摘要
Abstract
With the rapid development of autonomous driving technology,traffic accidents caused by vehicles deviating from their lanes remained high.To effectively reduce the risk of such accidents,a lane-keeping assistance strategy integrating LQR and H∞ robust controllers was proposed based on a two-degree-of-freedom vehicle dynamics model.A closed-loop control system including a vehicle model,a robust controller,and a path planning module was constructed on the Carsim/Simulink co-simulation platform.In this architecture,optimal state feedback adjustment on trajectory deviation and yaw motion was performed by LQR under nominal working conditions to quickly generate an ideal front wheel angle reference;the impact of external uncertain disturbances was suppressed by the H∞ controller.Comparative experiments showed that the root mean square value of lateral deviation of the proposed H∞-LQR controller was reduced by 15%and 12.5%respectively compared with the traditional LQR,and by 18.3%and 15.3%respectively compared with the feedforward-LQR controller under U-turn and double lane change conditions,which significantly improved the trajectory tracking accuracy and control robustness of the system under complex working conditions.关键词
动力学偏差模型/LQR控制/H∞控制/轨迹跟踪Key words
dynamic error model/LQR control/H∞ control/trajectory tracking分类
交通工程引用本文复制引用
黄玉淡,钟勇,陈贵川..面向轨迹跟踪的智能汽车横向H∞-LQR鲁棒控制方法研究[J].农业装备与车辆工程,2025,63(12):29-36,8.
