基于线性二次最优-PID车辆控制策略研究

Research on Vehicle Control Strategy Based on Linear Quadratic Optimal-PID Algorithm

针对车辆在循迹过程中主动跟随精确性的问题,本文提出了一种利用线性二次(LQR)-PID最优算法设计上层控制器的方法。首先,根据车辆的动静态特性和运动特性建立CarSim车辆模型,并设计相应的性能指标;然后,采用LQR线性二次最优控制和PID控制设计了针对不同路况条件下的两种跟车策略,结合实际驾驶条件下自身传感器采集的数据作为系统输入,将所设计控制策略得到的输出作用于车辆模型。联合仿真表明:线性二次-PID最优控制策略在不同工况条件下能够有效地减小车辆在跟随过程中的稳态误差,且能够明显改善驾乘体验。

Aiming at the problem of active tracking accuracy of vehicle in tracking process,a design method of upper controller based on linear quadratic(LQR)-PID optimal control strategy is proposed.Firstly,CarSim vehicle model is established according to the dynamic and static characteristics and motion characteristics of vehicle,and the corresponding performance index is designed.Then,LQR linear quadratic optimal control and PID control are used to design two kinds of car-following strategies under different road conditions.The data collected by the sensor under the actual driving conditions is used as the input of the system,and the output is obtained by the control strategy designed in this paper.The joint simulation shows that the linear quadratic-PID optimal control strategy can effectively reduce the steady-state error of the vehicle in the following process under different working conditions,and can significantly improve the driving experience of the vehicle.