In order to enhance the path-tracking accuracy and adaptability of the electric flatbed vehicle (EFV) in the soft-target vehicle test system, an improved controller is designed based on the linear quadratic regulator (LQR) algorithm. First, the LQR feedback controller is designed based on the EFV dynamics tracking error model, and the genetic algorithm is utilized to obtain the optimal weight coefficient matrix for different speeds. Second, a weight coefficient matrix compensation strategy is proposed to address the changes in the relationship between the vehicle–road position and attitude caused by external disturbances and the state of EFV. An offline parameter table is created to reduce the computational load on the microcontroller of EFV and enhance real-time path-tracking performance. Furthermore, an adaptive preview time control strategy is added to reduce the overshooting caused by control delay. This strategy is based on road curvature and traveling speed. Finally, the simulation experiment and field experiment are carried out. The results show that the improved LQR controller exhibits high tracking accuracy during the emergency double lane changes experiment and can maintain accuracy and stability at different speeds.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path-Tracking Control of Soft-Target Vehicle Test System Based on Compensation Weight Coefficient Matrix and Adaptive Preview Time


    Weitere Titelangaben:

    Sae Intl. J Cav


    Beteiligte:
    Zhai, JingXiang (Autor:in) / Wang, Kan (Autor:in) / Feng, Kun (Autor:in) / Li, Wenli (Autor:in) / Zhang, ZhiYong (Autor:in)


    Erscheinungsdatum :

    2024-01-18




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Path Tracking of Intelligent Commercial Vehicles Based on Variable Weight Coefficient Multipoint Preview Control

    Li, Yaohua / Liu, Yang / Feng, Qianlong et al. | British Library Conference Proceedings | 2022




    Preview Path Tracking Control With Delay Compensation for Autonomous Vehicles

    Xu, Shaobing / Peng, Huei / Tang, Yifan | IEEE | 2021


    Discontinuous curvature trajectory tracking control method based on adaptive preview path

    LIU RANRAN / LI HANGYU / JIANG YU et al. | Europäisches Patentamt | 2023

    Freier Zugriff