WANG Yuehong,JIANG Tao,LI Ping,et al.Design of Intelligent Vehicle Path Tracking Controller[J].Journal of Chengdu University of Information Technology,2022,37(01):21-27.[doi:10.16836/j.cnki.jcuit.2022.01.004]
智能车路径跟踪控制器的设计
- Title:
- Design of Intelligent Vehicle Path Tracking Controller
- 文章编号:
- 2096-1618(2022)01-0021-07
- Keywords:
- intelligent vehicle; path tracking; LQR; feedforward control; genetic algorithm
- 分类号:
- TP273
- 文献标志码:
- A
- 摘要:
- 为解决LQR控制算法在智能车路径跟踪应用中参数难以选择且存在稳态误差的问题，提出一种基于遗传算法、前馈控制和线性二次型最优控制(genetic algorithm-feedforward control-linear quadratic regulator)的GA-FFC-LQR路径跟踪控制器。首先，根据车辆的受力情况建立车辆动力学模型，通过将车辆投影到自然坐标系下，建立以相对于期望路径的横向偏差和航向偏差为状态变量的误差动力学模型。基于此误差动力学模型，利用LQR控制理论设计智能车路径跟踪控制器，并结合期望路径的曲率信息设计路径跟踪的前馈控制器。然后，利用遗传算法优化控制器的Q矩阵，从而减小LQR控制器设计的复杂性和提高路径跟踪控制器的精度。最后通过Carsim/Simulink联合仿真平台测试设计的GA-FFC-LQR路径跟踪控制器。仿真测试结果表明，所设计的路径跟踪控制器能够保证智能车在不同道路下的路径跟踪性能，具有较好的跟踪精度。
- Abstract:
- In order to solve the problem of difficult parameter selection and steady-state error in the application of LQR control algorithm in intelligent vehicle path tracking, a GA-FFC-LQR path tracking controller based on genetic algorithm, feedforward control and linear quadratic regulator is proposed. Firstly, the vehicle dynamics model is established according to the force of the vehicle. By projecting the vehicle into the natural coordinate system, the error dynamics model with the lateral deviation and heading deviation relative to the desired path as the state variables is established. Based on this error dynamic model, the path tracking controller of intelligent vehicle is designed by using LQR control theory, and the feedforward controller of path tracking is designed combined with the curvature information of the desired path. Then, the Q matrix of the controller is optimized by genetic algorithm, so as to reduce the complexity of LQR controller design and improve the accuracy of path tracking controller. Finally,the designed GA-FFC-LQR path tracking controller is tested by CarSim/Simulink joint simulation platform. The simulation test results show that the designed path tracking controller can ensure the path tracking performance of intelligent vehicles on underdifferent roads, and has good better tracking accuracy.
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备注/Memo
收稿日期:2021-10-05
基金项目:国家自然科学基金资助项目(61802036)