Longitudinal and transverse trajectory tracking of unmanned vehicle based on dual PID and LQR

The vehicle longitudinal dynamics model is established based on the vehicle two degree of freedom model. Use the vehicle longitudinal control logic based on throttle and brake control. Compared with single PID control logic, double PID can realize the longitudinal position and speed tracking control at the same time. In lateral control, discrete LQR is used to track the trajectory laterally. The throttle brake controller is constructed based on the throttle and brake, which together constitute the longitudinal motion controller. A throttle brake switching logic is designed to make the control more reasonable. The effectiveness of longitudinal double PID and lateral LQR controllers for trajectory tracking control is verified by simulation. The results show that the designed controller and switching logic can meet the requirements of high accuracy and smoothness.