基于Pure pursuit(纯跟踪)和运动学LQR横向控制结合控制在工程车上的应用  

Application of LQR Lateral Control Combined Control Based on Pure Pursuit and Kinematics in Engineering Vehicle

作　　者：张佳谋 牟均发 王坚刚 任宏亮 赵荣 ZHANG Jiamou;MOU Junfa;WANG Jiangang;REN Hongliang;ZHAO Rong(Xian Mainfun Intelligent Technology Co.,Ltd.,Xi'an,Shaanxi Province,712000 China)

机构地区：[1]西安主函数智能科技有限公司,陕西西安712000

出　　处：《汽车知识》2023年第8期164-166,共3页Auto Know

摘　　要：随着自动驾驶技术的发展,无人驾驶算法层出不穷,该文基于目前使用特别广泛的Pure pursuit算法基础上,再结合LQR的控制,通过进行理论仿真和实车测试,在测试中通过设定Q、R参数在S弯和180度弯道进行了实际测试,并分析可测试数据,确定了该方法可以非常有效的实现无人驾驶横向控制,同时可以兼顾Pure pursuit算法的预瞄控制过程,根据路线特征提前进行转向控制,同时可以具备LQR逐次逼近目标,消除误差的优点。With the development of autonomous driving technology,unmanned driving algorithms have emerged one after another.Based on the widely used Pure Pursuit algorithm,combined with LQR control,this paper conducts theoretical simulation and actual vehicle testing.In the testing,Q and R parameters are set for practical testing on S-bends and 180 degree bends,and testable data is analyzed to determine that this method can effectively achieve unmanned driving lateral control,At the same time,it can also take into account the preview control process of the Pure Pursuit algorithm,perform steering control in advance based on route characteristics,and have the advantages of LQR successive approximation of the target and elimination of errors.

关 键 词：横向控制 LQR算法 Pure pursuit算法 轨迹跟踪 

分 类 号：U61[交通运输工程—船舶及航道工程]