Research On Tracking Control Of Unmanned Vehicle

With the increasing number of cars around the world,problems such as poor urban traffic,shortage of gasoline,and traffic safety have emerged,among which traffic safety accidents are the most common.The intelligent driving technology of unmanned vehicles not only improves the active safety of the vehicle to a certain extent,but also relieves the traffic pressure during the peak period,so it has important practical application significance.Accurate and effective trajectory tracking control is the key to unmanned driving,and it has positive and important practical significance for the mass production and use of unmanned vehicles.This thesis is based on the Zhonghua V3 unmanned vehicle as the test platform.Based on this platform,an available trajectory tracking control algorithm for unmanned vehicles that meets the requirements of unmanned trajectory tracking control is designed,including the PID for longitudinal control of speed tracking.Control algorithm and optimal LQR control algorithm for lateral control of path tracking and optimal feedforward LQR control algorithm.First,the vehicle dynamics system model is established,and then software simulation and testing are carried out based on the PID control algorithm and the LQR control algorithm.The actual performance of the control method is compared and analyzed through the joint simulation of Car Sim2018 and Simulink under standard double-line shifting conditions.According to different set speed performance and other evaluation indicators.Finally,in order to verify the correctness and effectiveness of the algorithm proposed in this article,the above control algorithm was systematically simulated and verified in the later stage,and then the campus high-precision map was collected with the Chinese V3 real vehicle,and the collected map The optimal feedforward LQR trajectory tracking control algorithm is selected on the appropriate path and the actual vehicle test is carried out in a closed campus.The test results show that the previously proposed optimal feedforward LQR trajectory tracking control algorithm can track the trajectory well,and the actual error is within the allowable range.The control algorithm used in this paper can achieve the performance of unmanned vehicles.Requirements related to trajectory tracking control.