基于模型的智能城市自动驾驶汽车变道机动轨迹控制

Q3 Mathematics

WSEAS Transactions on Systems and Control Pub Date : 2023-10-27 DOI:10.37394/23203.2023.18.36

Igor Astrov

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引用次数: 0

摘要

在各种环境中对自动驾驶汽车进行高质量的计算机控制是网络物理系统(CPS)、工业4.0和整个全球经济的优先事项。本文讨论了自重1160kg的自动驾驶汽车(SDC)的线性化控制模型。为了安全机动避障，我们使用Simulink/MATLAB环境采用线性二次调节器(LQR)的最优控制，该环境能够在智能城市中不断变化的城市条件下使用3D仿真环境证明LQR控制对该机动的可满意度。该控制器易于工程实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Model-Based Control of Self-Driving Car Trajectory for Lanes Change Maneuver in a Smart City

High-quality computer control of autonomous vehicles in various environments is a priority for cyber-physical systems (CPS), Industry 4.0, and the global economy as a whole. The paper discusses the linearized control model of a Self-Driving Car (SDC) with a weight of 1160 kg. For safe maneuvering with obstacle avoidance, we employ an optimal control by Linear Quadratic Regulator (LQR) using a Simulink/MATLAB environment that is capable to demonstrate the satisfiability of LQR control for this maneuver using a 3D simulation environment under changing urban conditions in a smart city. This controller is easy for engineering implementation.

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来源期刊

WSEAS Transactions on Systems and Control Mathematics-Control and Optimization

CiteScore

1.80

自引率

0.00%

发文量

期刊介绍： WSEAS Transactions on Systems and Control publishes original research papers relating to systems theory and automatic control. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with systems theory, dynamical systems, linear and non-linear control, intelligent control, robotics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.