Path tracking control of autonomous container trucks using angular compensation LQR

doi:10.3969/j.issn.1674-8484.2024.03.015

Abstract

Abstract:

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.

Key words: autonomous container trucks, path tracking, path deviation, articulated angle deviation, linear quadratic regulator (LQR), PID steering compensation

CLC Number:

TP273

CAO Liling, LIU Wei, DAI Kunpeng, ZHOU Guofeng. Path tracking control of autonomous container trucks using angular compensation LQR[J]. Journal of Automotive Safety and Energy, 2024, 15(3): 413-423.

Figures/Tables 10

References 19

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牵引车质量，m₁	10.970 t
半挂车质量，m₂	7.570 t
牵引车前轴与质心距离，a₁	2.791 m
牵引车后轴与质心距离，b₁	1.344 m
牵引车质心与铰接点距离，c	1.209 m
半挂车质心与铰接点距离，a₂	3.400 m
半挂车质心与后轴距离， b₁	4.500 m
牵引车绕z轴转动惯量，I_z1	72.650 t / m²
半挂车绕z轴转动惯量，I_z2	194.1697 t / m²
牵引车前轴侧偏刚度，C_y_f	280.00 kN·m / rad
牵引车后轴侧偏刚度，C_y_r	609.127 kN·m / rad
半挂车后轴侧偏刚度，C_y_t	415.678 kN·m / rad

牵引车质量，m₁	10.970 t
半挂车质量，m₂	7.570 t
牵引车前轴与质心距离，a₁	2.791 m
牵引车后轴与质心距离，b₁	1.344 m
牵引车质心与铰接点距离，c	1.209 m
半挂车质心与铰接点距离，a₂	3.400 m
半挂车质心与后轴距离， b₁	4.500 m
牵引车绕z轴转动惯量，I_z1	72.650 t / m²
半挂车绕z轴转动惯量，I_z2	194.1697 t / m²
牵引车前轴侧偏刚度，C_y_f	280.00 kN·m / rad
牵引车后轴侧偏刚度，C_y_r	609.127 kN·m / rad
半挂车后轴侧偏刚度，C_y_t	415.678 kN·m / rad

偏差类型	v / (km·h^-1)	传统LQR	转角补偿LQR
牵引车平均距离偏差	25	0.043 m	0.014 m
牵引车平均距离偏差	50	0.047 m	0.018 m
半挂车平均距离偏差	25	0.079 m	0.055 m
半挂车平均距离偏差	50	0.037 m	0.018 m
平均航向偏差	25	0.011 rad	0.009 rad
平均航向偏差	50	0.132 rad	0.131 rad
平均铰接角偏差	25	0.026 rad	0.023 rad
平均铰接角偏差	50	0.029 rad	0.027 rad

偏差类型	v / (km·h^-1)	传统LQR	转角补偿LQR
牵引车平均距离偏差	25	0.043 m	0.014 m
牵引车平均距离偏差	50	0.047 m	0.018 m
半挂车平均距离偏差	25	0.079 m	0.055 m
半挂车平均距离偏差	50	0.037 m	0.018 m
平均航向偏差	25	0.011 rad	0.009 rad
平均航向偏差	50	0.132 rad	0.131 rad
平均铰接角偏差	25	0.026 rad	0.023 rad
平均铰接角偏差	50	0.029 rad	0.027 rad

偏差类型	v / (km·h^-1)	传统LQR	转角补偿LQR
牵引车平均距离偏差	20	0.25 m	0.04 m
牵引车平均距离偏差	30	0.31 m	0.06 m
半挂车平均距离偏差	20	0.53 m	0.32 m
半挂车平均距离偏差	30	0.51 m	0.27 m
平均航向偏差	20	0.152 rad	0.151 rad
平均航向偏差	30	0.132 rad	0.131 rad
平均铰接角偏差	20	0.137 rad	0.136 rad
平均铰接角偏差	30	0.134 rad	0.133 rad