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Improved path tracking control method based on LQR

A control method and path tracking technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc. Guaranteed effect of accuracy

Pending Publication Date: 2022-04-22
CHENGDU UNIV OF INFORMATION TECH
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  • Summary
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

The existing path tracking usually uses the LQR path tracking control algorithm, which has the advantages of: (1) simple calculation, and can quickly find the optimal solution; (2) fewer parameters, and can quickly debug the appropriate parameters, but There are the following disadvantages: (1) Overshoot will occur when the curvature changes rapidly, and there will be a steady-state error due to the algorithm itself; (2) The elements in the weighting matrix Q in the LQR path tracking controller use fixed values, cannot be changed, which limits the performance of path-following controllers

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  • Improved path tracking control method based on LQR
  • Improved path tracking control method based on LQR
  • Improved path tracking control method based on LQR

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

[0033] The overall design idea of ​​the present invention is: this invention improves on the basis of the mainstream path tracking control method-LQR control algorithm, the weight matrix Q of the traditional LQR control algorithm is a fixed value and cannot be changed, and the lateral deviation and heading deviation are large When the elements of the weighting matrix Q are still fixed values, the performance of the LQR controller is limited, resulting in a large deviation when the unmanned shuttle bus tracks the planned path, especially when turning. vehicles collided, resulting in traffic accidents. After the present invention adds the fuzzy controller to dynamically adjust the elements of the weighting matrix Q in the LQR controller, it can effectively improve the accuracy ...

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Abstract

The invention discloses an improved path tracking control method based on an LQR, and the method comprises the steps: carrying out the real-time correction and optimization of an element Q in an original weighting matrix of an LQR controller through a fuzzy controller based on a transverse deviation value and a course deviation value of a current actual position and a planned position of an unmanned vehicle, so as to obtain an optimized weighting matrix Q, and solving the LQR problem to obtain the control quantity of the front wheel turning angle of the vehicle. The method at least has the following beneficial effects: in order to solve the problem of insufficient precision of unmanned vehicle path tracking in practical application, fuzzy control is added in the existing LQR path tracking algorithm, and elements in a weighting matrix Q in an LQR path tracking controller are dynamically adjusted; and then calculating an optimal solution of an LQR controller by using the adjusted weighting matrix Q, and calculating a front wheel turning angle required by the unmanned vehicle so as to achieve an effect of improving the path tracking precision of the unmanned vehicle.

Description

technical field [0001] The invention relates to the field of unmanned driving path tracking control, more specifically, the invention relates to an improved path tracking control method based on LQR. Background technique [0002] Path tracking in the field of unmanned driving refers to controlling the steering wheel, accelerator and brake pedal of unmanned vehicles, so that unmanned vehicles can follow the planned path. The existing path tracking usually uses the LQR path tracking control algorithm, which has the advantages of: (1) simple calculation, and can quickly find the optimal solution; (2) fewer parameters, and can quickly debug the appropriate parameters, but There are the following disadvantages: (1) Overshoot will occur when the curvature changes rapidly, and there will be a steady-state error due to the algorithm itself; (2) The elements in the weighting matrix Q in the LQR path tracking controller use fixed values, cannot be changed, limiting the performance of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 蒋涛王月红李平胡泽蔡明希
Owner CHENGDU UNIV OF INFORMATION TECH