采用转角补偿LQR的自动驾驶集卡路径跟踪控制  

Path tracking control of autonomous container trucks using angular compensation LQR

作　　者：曹莉凌[1] 刘威 代堃鹏 周国峰 CAO Liling;LIU Wei;DAI Kunpeng;ZHOU Guofeng(School of Engineering,Shanghai Ocean University,Shanghai 201306,China;SICV(Shanghai)Intelligent Technology Co.,Ltd.,Shanghai 201403,China)

机构地区：[1]上海海洋大学工程学院,上海201306 [2]上智联智能科技有限公司,上海201403

出　　处：《汽车安全与节能学报》2024年第3期413-423,共11页Journal of Automotive Safety and Energy

基　　金：十三五“蓝色粮仓科技创新”国家重点研发计划项目(2019YFD0900805)。

摘　　要：为了解决自动驾驶集卡中半挂车在行驶过程中的路径偏移问题,提出了一种引入铰接角偏差和转角补偿的线性二次调节器(LQR)控制方法。基于集卡三自由度动力学模型建立了考虑铰接角偏差的路径跟踪误差模型;通过采用比例-积分-微分(PID)算法进行转角补偿设计了LQR路径跟踪控制器;通过MATLAB/Simulink和TruckSim搭建联合仿真平台,在不同工况下进行仿真分析验证。结果表明:通过采用提出的路径跟踪算法,引入PID转角补偿,牵引车平均距离偏差降低62%以上,半挂车平均距离偏差降低31%以上,航向偏差和铰接角偏差也均有所改善。因此,该文提出的控制算法具有较好的路径跟踪性能,提高了对期望路径跟踪的精度和稳定性。A linear quadratic regulator(LQR)control method with incorporating articulated angle deviation and steering angle compensation was proposed to address the issue of path deviation of semi-trailer in the process of driving of autonomous container trucks.Based on the three-degree-of-freedom dynamic model of the truck,a path tracking error model was established with considering articulated angle deviation.The linear quadratic regulator(LQR)path tracking controller was designed by compensating for the steering angle using the proportion-integral-derivative(PID)algorithm.A joint simulation platform was built using MATLAB/Simulink and TruckSim to perform simulation analysis under different condition.The results show that the average deviation in distance between the tractor and the desired path is reduced by more than 62%,and the average deviation in distance between the semi-trailer and the desired path is reduced by more than 31%by adopting the proposed path tracking algorithm and introducing PID steering compensation.The heading deviation and articulation angle deviation are also improved.Therefore,the proposed control algorithm demonstrates good path tracking performance,enhancing accuracy and stability in tracking the desired trajectory.

关 键 词：自动驾驶集卡 路径跟踪 路径偏移 铰接角偏差 线性二次调节器(LQR) PID转角补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]