汽车横向摆动前馈调节LQR控制设计及仿真分析

Design and Simulation Analysis of LQR Controller for Lateral Movement of Unmanned Vehicle

对自动驾驶的横向位置参数与速度进行有效控制,需要通过设置智能控制技术来实现。为了提高汽车无人驾驶时横向摆动控制精度,设计了一种能够自主调节的前馈调节线性最优控制LQR控制器。利用非预瞄控制模式建立了对路径误差跟踪模型,建立了包含了路径跟踪偏差和车-路参数的自适应矩阵,并开展仿真测试分析。双移线测试表明,采用前馈LQR优化控制器进行处理时得到的距离偏差不超过0.3m,获得了0.1rad以内的航向偏差。LQR控制器中加入前馈控制程序后应对控制参数进行适当调节便可以达到目的。连续换道测试表明,在LQR控制器中加入前馈控制后达到更小偏差,路径跟踪精度获得了明显提升,表现出更优控制效果。该研究对提高无人驾驶汽车运行稳定性具有很好的理论支撑价值,易于推广应用。

It is necessary to set intelligent control technology to effectively control the lateral position parameters and speed of automatic driving.In order to improve the lateral swing control accuracy of unmanned vehicle,a feedforward regulation LQR controller was designed.The path error tracking model was established by using the non-previewing control mode,and the adaptive matrix including the path tracking deviation and vehicle-road parameters was established,and the simulation test was carried out.The double line shift test shows that the range deviation obtained by using the feedforward LQR optimization controller is less than 0.3m,and the course deviation is less than 0.1rad.After adding feedforward control program to LQR controller,the control parameters should be properly adjusted to achieve the goal.The continuous lane change test shows that the LQR controller with feedforward control has a smaller deviation,and the path tracking accuracy has been significantly improved,showing a better control effect.This study has good theoretical support value for improving the operation stability of driverless vehicles and is easy to be popularized and applied.