Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID
In order to improve the accuracy and robustness of intelligent vehicle trajectory tracking, a longitudinal and lateral control strategy based on linear quadratic regulator (LQR) and proportional-integral-derivative (PID) algorithm was proposed. First, the two-degree-of-freedom vehicle kinematics mod...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Editorial Office of Journal of Taiyuan University of Technology
2022-09-01
|
| Series: | Taiyuan Ligong Daxue xuebao |
| Subjects: | |
| Online Access: | https://tyutjournal.tyut.edu.cn/englishpaper/show-1959.html |
| _version_ | 1827283493697093632 |
|---|---|
| author | Mingze XU Qinghe LIU |
| author_facet | Mingze XU Qinghe LIU |
| author_sort | Mingze XU |
| collection | DOAJ |
| description | In order to improve the accuracy and robustness of intelligent vehicle trajectory tracking, a longitudinal and lateral control strategy based on linear quadratic regulator (LQR) and proportional-integral-derivative (PID) algorithm was proposed. First, the two-degree-of-freedom vehicle kinematics model and trajectory tracking error model are established. Second, the trajectory tracking controller of lateral LQR control algorithm and the speed tracking controller of longitudinal double PID control algorithm are designed, and the key parameters of lateral LQR control are determined by genetic algorithm. Finally, the control algorithm is simulated by CarSim and Simulink under three working conditions: Low speed, Medium speed, and High speed. The simulation results show that the distance deviation of the lateral and longitudinal control algorithm in trajectory tracking is less than 0.05 m, and the front wheel angle and yaw angular velocity change smoothly, which ensures the accuracy and stability of trajectory tracking and improves the comfort of passengers to a certain extent. |
| first_indexed | 2024-04-24T09:36:17Z |
| format | Article |
| id | doaj.art-4de51ceaf9e5457c8616309f29c62284 |
| institution | Directory Open Access Journal |
| issn | 1007-9432 |
| language | English |
| last_indexed | 2024-04-24T09:36:17Z |
| publishDate | 2022-09-01 |
| publisher | Editorial Office of Journal of Taiyuan University of Technology |
| record_format | Article |
| series | Taiyuan Ligong Daxue xuebao |
| spelling | doaj.art-4de51ceaf9e5457c8616309f29c622842024-04-15T09:15:56ZengEditorial Office of Journal of Taiyuan University of TechnologyTaiyuan Ligong Daxue xuebao1007-94322022-09-0153587788510.16355/j.cnki.issn1007-9432tyut.2022.05.0121007-9432(2022)05-0877-09Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PIDMingze XU0Qinghe LIU1School of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai 264209, ChinaSchool of Automotive Engineering, Harbin Institute of Technology (Weihai), Weihai 264209, ChinaIn order to improve the accuracy and robustness of intelligent vehicle trajectory tracking, a longitudinal and lateral control strategy based on linear quadratic regulator (LQR) and proportional-integral-derivative (PID) algorithm was proposed. First, the two-degree-of-freedom vehicle kinematics model and trajectory tracking error model are established. Second, the trajectory tracking controller of lateral LQR control algorithm and the speed tracking controller of longitudinal double PID control algorithm are designed, and the key parameters of lateral LQR control are determined by genetic algorithm. Finally, the control algorithm is simulated by CarSim and Simulink under three working conditions: Low speed, Medium speed, and High speed. The simulation results show that the distance deviation of the lateral and longitudinal control algorithm in trajectory tracking is less than 0.05 m, and the front wheel angle and yaw angular velocity change smoothly, which ensures the accuracy and stability of trajectory tracking and improves the comfort of passengers to a certain extent.https://tyutjournal.tyut.edu.cn/englishpaper/show-1959.htmlintelligent vehicletrajectory trackinglateral and longitudinal controllqrpid |
| spellingShingle | Mingze XU Qinghe LIU Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID Taiyuan Ligong Daxue xuebao intelligent vehicle trajectory tracking lateral and longitudinal control lqr pid |
| title | Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID |
| title_full | Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID |
| title_fullStr | Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID |
| title_full_unstemmed | Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID |
| title_short | Design and Simulation of Intelligent Vehicle Trajectory Tracking Control Algorithm Based on LQR and PID |
| title_sort | design and simulation of intelligent vehicle trajectory tracking control algorithm based on lqr and pid |
| topic | intelligent vehicle trajectory tracking lateral and longitudinal control lqr pid |
| url | https://tyutjournal.tyut.edu.cn/englishpaper/show-1959.html |
| work_keys_str_mv | AT mingzexu designandsimulationofintelligentvehicletrajectorytrackingcontrolalgorithmbasedonlqrandpid AT qingheliu designandsimulationofintelligentvehicletrajectorytrackingcontrolalgorithmbasedonlqrandpid |