基于模糊LQR的智能汽车路径跟踪控制

doi:10.19562/j.chinasae.qcgc.2022.01.003

Abstract

Abstract:

In order to ensure the accuracy and stability of the path tracking of intelligent vehicles under different speeds, a fuzzy linear quadratic regulator (LQR) with rotation angle compensation using preview PID for path tracking control is designed in this paper. Firstly, the LQR controller is designed based on the path tracking error model, and the preview PID algorithm is used to compensate the rotation angle，eliminate the steady-state error and enhance the tracking accuracy. Then, aiming at the problem of poor adaptability to different speeds of the controller with fixed weighting factors, a speed-based fuzzy adjustment strategy of weighting factors is proposed. Finally, a real vehicle test is conducted to verify the control performance of the controller in real world environment. The results show that the controller designed has high tracking accuracy, and can maintain good accuracy and stability under different vehicle speeds.

Key words: intelligent vehicles, path tracking, preview PID, fuzzy LQR

Jie Hu,Xinkai Zhong,Ruinan Chen,Linglei Zhu,Wencai Xu,Minchao Zhang. Path Tracking Control of Intelligent Vehicles Based on Fuzzy LQR[J].Automotive Engineering, 2022, 44(1): 17-25.

Figures/Tables 16

变量	论域
$v x$	（0，6）
$Δ q 1$	（-3.6，3.6）
$Δ r$	（-5.6，5.6）

变量	模糊子集
$v x$	NB	NS	O	PS	PB
$Δ q 1$	PB	PS	O	NS	NB
$Δ r$	NB	NS	O	PS	PB

参数	数值
整车质量 $m / k g$	2 176
前轴到质心距离 $l f / m$	1.37
后轴到质心距离 $l r / m$	1.37
绕z轴转动惯量 $I z / (k g ? m 2)$	2 800
前轴侧偏刚度 $c f / (N ? r a d - 1)$	150 000
后轴侧偏刚度 $c r / (N ? r a d - 1)$	150 000
转向传动比i	20.5

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Path Tracking Control of Intelligent Vehicles Based on Fuzzy LQR

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