Path Tracking Control of Intelligent Vehicles Based on Fuzzy LQR

被引：0
|
作者：
Hu J. [1 ,2 ,3 ]
Zhong X. [1 ,2 ,3 ]
Chen R. [1 ,2 ,3 ]
Zhu L. [1 ,2 ,3 ]
Xu W. [1 ,2 ,3 ]
Zhang M. [1 ,2 ,3 ]
机构：
[1] Wuhan University of Technology, Hubei Key Laboratory of Modern Auto Parts Technology, Wuhan
[2] Wuhan University of Technology, Auto Parts Technology Hubei Collaborative Innovation Center, Wuhan
[3] Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering, Wuhan
来源：
Qiche Gongcheng/Automotive Engineering | 2022年 / 44卷 / 01期
关键词：
Fuzzy LQR; Intelligent vehicles; Path tracking; Preview PID;
D O I：
10.19562/j.chinasae.qcgc.2022.01.003
中图分类号：
学科分类号：
摘要：
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. © 2022, Society of Automotive Engineers of China. All right reserved.
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页码：17 / 25
页数：8
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