基于lmi的自动驾驶车辆行驶舒适性多面体LQR巡航控制器设计

Q2 Engineering

Periodica Polytechnica Transportation Engineering Pub Date : 2022-08-25 DOI:10.3311/pptr.20075

Gia Quoc Bao Tran, Thanh-Phong Pham, O. Sename, P. Gáspár

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引用次数: 0

摘要

在本文中，我们提出了一种基于LMI的自动驾驶汽车舒适性巡航控制方法。首先，对车辆纵向动力学和相应的参数相关状态空间表示进行了解释和讨论。然后，为车辆速度设计了一个基于LMI的多面体LQR控制器，以在存在噪声和干扰的情况下跟踪参考值，其中调度参数是车辆质量和速度本身的函数。在设计的控制器中还包括适当的干扰力补偿项，以提供更平滑的响应。然后，我们详细介绍了如何使用给定期望舒适度（通过人体吸收的垂直加速度量化）和以道路粗糙度为特征的道路类型的多项式函数在线计算参考速度。最后，时域仿真验证了该方法的有效性。

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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Design of an LMI-based Polytopic LQR Cruise Controller for an Autonomous Vehicle towards Riding Comfort

In this paper, we present an LMI-based approach for comfort-oriented cruise control of an autonomous vehicle. First, vehicle longitudinal dynamics and a corresponding parameter-dependent state-space representation are explained and discussed. An LMI-based polytopic LQR controller is then designed for the vehicle speed to track the reference value in the presence of noise and disturbances, where the scheduling parameters are functions of the vehicle mass and the speed itself. An appropriate disturbance force compensation term is also included in the designed controller to provide a smoother response. Then we detail how the reference speed is calculated online, using polynomial functions of the given desired comfort level (quantified by the vertical acceleration absorbed by the human body) and of the road type characterized by road roughness. Finally, time-domain simulations illustrate the method’s effectiveness.

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来源期刊

Periodica Polytechnica Transportation Engineering Engineering-Automotive Engineering

CiteScore

2.60

自引率

0.00%

发文量

期刊介绍： Periodica Polytechnica is a publisher of the Budapest University of Technology and Economics. It publishes seven international journals (Architecture, Chemical Engineering, Civil Engineering, Electrical Engineering, Mechanical Engineering, Social and Management Sciences, Transportation Engineering). The journals have free electronic versions.