The invention relates to an automatic driving vehicle path tracking method based on feedforward and prediction LQR and an experimental device, and belongs to the technical field of automatic driving. The method comprises the following steps: establishing a model: establishing a two-degree-of-freedom transverse dynamic model of the autonomous vehicle; constructing a feed-forward LQR controller: constructing the feed-forward LQR controller according to the two-degree-of-freedom transverse dynamic model; building a prediction controller: building fuzzy adaptive prediction time based on real-time vehicle speed-curvature according to a fuzzy control algorithm, and designing the prediction controller based on a constant turning rate and a speed amplitude model; establishing a feed-forward + prediction LQR controller; establishing a transverse feed-forward + prediction LQR path tracking controller according to the feed-forward LQR and the prediction controller; according to the automatic driving vehicle path tracking method based on feedforward and prediction LQR, the experimental device is established based on CAN communication of Labview and Simulink; the problem that tracking precision and stability of an automatic driving vehicle are difficult to consider under complex working conditions is solved.
本发明涉及一种基于前馈和预测LQR自动驾驶车辆路径跟踪方法及实验装置,属于自动驾驶技术领域;方法,包括:建立模型:建立自动驾驶车辆二自由度横向动力学模型;构建前馈LQR控制器:根据二自由度横向动力学模型构建前馈LQR控制器;建立预测控制器:根据模糊控制算法建立基于实时车速‑曲率的模糊自适应预测时间,基于恒定转弯率和速度幅度模型设计预测控制器;建立前馈+预测LQR控制器:根据前馈LQR和预测控制器建立横向前馈+预测LQR路径跟踪控制器;实验装置,根据上述的基于前馈和预测LQR自动驾驶车辆路径跟踪方法,基于Labview与Simulink的CAN通信搭建;解决自动驾驶车辆在复杂工况下跟踪精度与稳定性难以兼顾的问题。
Automatic driving vehicle path tracking method and experimental device based on feedforward and prediction LQR
基于前馈和预测LQR自动驾驶车辆路径跟踪方法及实验装置
2023-12-01
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Automatic driving vehicle longitudinal control system and method based on feedforward-fuzzy PI
Europäisches Patentamt | 2022
|Target tracking path selection method and device for intelligent driving vehicle
Europäisches Patentamt | 2020
|