Trajectory Tracking for Autonomous Multi-Axle Vehicles Based on Linear Quadratic Regulator Wuhan University of Technology, Hubei Key Laboratory of Adva

Format:

Book

Conference/Event

Author/Creator:

Huang, Bin, author.

Contributor:

Fu, Wenqi

Shengshi, Zhong

Yuan, Zhijun

Conference Name:

Automotive Technical Papers (2024-01-01 : Warrendale, Pennsylvania, United States)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2024

Summary:

To enhance the precision of trajectory tracking for an intelligent vehicle driven by a multi-axle wheel hub motor, a lateral control strategy based on the linear quadratic regulator (LQR) is proposed. First, a two-degrees-of-freedom dynamics model of the four-wheeled vehicle and a trajectory tracking error model are established. Second, a trajectory tracking controller employing the lateral LQR control algorithm is designed, while the longitudinal velocity is controlled using a PID controller. Furthermore, direct yaw moment control is incorporated to enhance the control precision and stability during trajectory tracking. Through joint simulations in TruckSim and Simulink under both low-speed and high-speed conditions, the control algorithm is evaluated. The simulation results demonstrate that the control algorithm is capable of effectively conducting joint simulation experiments under various operational scenarios. It accurately follows the predefined path model, maintaining a tracking distance deviation of less than 0.18 m, a yaw rate of under 14.5 degrees per second, and a lateral deviation angle of less than 3 degrees. This algorithm exhibits excellent trajectory tracking precision and a commendable level of stability

Notes:

Vendor supplied data

Publisher Number:

2024-01-5023

Access Restriction:

Restricted for use by site license