A vehicle trajectory tracking control method based on fuzzy adaptive LQR and feedforward compensation
The vehicle trajectory tracking control method using fuzzy adaptive LQR and feedforward compensation solves the problem of insufficient adaptability of vehicles under different states, realizes lateral and longitudinal cooperative trajectory tracking, improves trajectory tracking accuracy and longitudinal control smoothness, and is suitable for autonomous vehicles and intelligent connected vehicles.
Patent Information
- Application Number
- CN202610698580.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-05-20
- Publication Date
- 2026-07-17
AI Technical Summary
Existing vehicle trajectory tracking control methods are not adaptable to different vehicle speeds, road curvatures, and error conditions. Simple feedback control lags in corner tracking, longitudinal desired acceleration is difficult to directly convert into chassis executable commands, and the coordination between lateral and longitudinal control is insufficient.
A vehicle trajectory tracking control method with fuzzy adaptive LQR and feedforward compensation is adopted. The LQR control weight is adjusted online by fuzzy logic. Combined with road curvature feedforward compensation and cascaded PID longitudinal control, lateral and longitudinal coordinated trajectory tracking is achieved. The desired acceleration is converted into chassis executable commands by using high-dimensional lookup table mapping of inverse longitudinal dynamics.
It improves the trajectory tracking accuracy, lateral stability, and longitudinal execution smoothness of vehicles under different speeds, curvatures, and error conditions, reduces the computational burden, and facilitates deployment in autonomous vehicles and intelligent connected vehicles.
Smart Images
Figure CN122411036A_ABST