基于PSO的LQR车辆横纵向跟踪控制研究  

Research on Horizontal and Longitudinal Tracking Control of LQR Vehicles Based on PSO

作　　者：王兴国 吴伟林 何伟 WANG Xingguo;WU Weilin;HE Wei(Center for Applied Mathematics of Guangxi,School of Electronic Information,Guangxi Minzu University,Nanning 530006,China;Guangxi Key Laboratory of Machine Vision and Intelligent Control,Wuzhou 543002,China;School of Automation,Guangdong Polytechnic Normal University,Guangzhou 510665,China)

机构地区：[1]广西民族大学电子信息学院广西应用数学中心,南宁530006 [2]广西机器视觉与智能控制重点实验室,梧州543002 [3]广东技术师范大学自动化学院,广州510665

出　　处：《自动化与仪表》2024年第10期136-142,共7页Automation & Instrumentation

基　　金：广西科技基地和人才项目(桂科AD23026199);广西民族大学相思湖青年学者创新团队资助项目(2023GXUNXSHQN06);广西机器视觉与智能控制重点实验室开放性基金(2022B02);国家自然科学基金专项项目(62241302)。

摘　　要：为了解决LQR控制器在固定权重下对复杂道路的跟踪精度和稳定性较差的问题,该文提出一种基于PSO算法优化的预测前馈转角补偿横纵向系统控制方法。横向控制采用PSO优化的LQR控制器,纵向控制采用位置PID和速度PID的双PID控制器进行路径跟踪,位置误差通过PID控制器对前轮转角进行补偿,来解决车辆转向不足的问题。通过MATLAB/Simulink和Carsim进行联合仿真,结果表明,在侧方泊车实验中,最大横向误差降低了约51%;在避障换道超车实验中,最大横向误差减少了约49%。In order to solve the problem of poor tracking accuracy and stability of LQR controller for complex roads under fixed weights,a control method for predicting feedforward rotation angle compensation transverse and longitudinal system based on PSO algorithm optimization was proposed.The LQR controller optimized by PSO is used for lateral control,and the dual PID controller of position PID and speed PID is used for longitudinal control for path tracking,and the position error is compensated for the front wheel angle by the PID controller to solve the problem of understeer of the vehicle.Through the co-simulation of MATLAB/Simulink and Carsim,the results show that the maximum lateral error is reduced by about 51%in the side parking experiment.In the obstacle avoidance and lane change overtaking experiment,the maximum lateral error is reduced by about 49%.

关 键 词：路径跟踪 PSO算法 LQR控制器 横纵向控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]