Automatic parking trajectory tracking control strategy on LQR and PID

Abstract

This study selects two degree of freedom dynamic model as the research object, and the automatic parking process is analyzed. The longitudinal cascade controller of speed PID and position PID is used to control the longitudinal motion of the vehicle. The lateral tracking controller based on LQR optimal theory is adopted, and the feedforward control is added to form the optimal feedforward LQR controller as the lateral tracking controller. Based on the co-simulation platform of MATLAB/Simulink and CarSim, the function of the designed automatic parking trajectory tracking control strategy is verified. The car test was completed. The ultrasonic sensor, raspberry pie and Arduino were used as the main parts to build an intelligent car test platform to simulate the performance of the designed tracking control strategy in the real vehicle. Software simulation results and vehicle test results showed that the designed control strategy can ensure the path tracking performance of vehicle under normal parking speed, and has good tracking accuracy, real-Time performance and vehicle driving stability.