Computer Science

Computer Science ›› 2025, Vol. 52 ›› Issue (10): 308-316.doi: 10.11896/jsjkx.240800112

• Artificial Intelligence • Previous Articles     Next Articles

Adaptive LQR Intelligent Vehicle Path Tracking Control Method Considering Time-varyingParameters

ZHANG Yajuan1,3, FENG Lingxia1, LI Guobin2   

  1. 1 Engineering Department,Huanghe S & T University, Zhengzhou 450000,China
    2 School of Software,Henan Polytechnic University,Jiaozuo,Henan 454000,China
    3 Zhengzhou Beidou High Precision Positioning and Timing Engineering Technology Research Center,Zhengzhou 450000,China
  • Received:2024-08-21 Revised:2024-10-30 Online:2025-10-15 Published:2025-10-14
  • About author:ZHANG Yajuan,born in 1979,master,associate professor.Her main research interests include vehicle self-control and intelligent hardware control.
    FENG Lingxia,born in 1978,master,associate professor.Her main research interests include computer application and intelligent hardware control.
  • Supported by:
    Collaborative Education Project of the Ministry of Education(220803631295944),Scientific and Technological Research Projects in Henan Province(172102210380),Key Research Projects Plan for Higher Education Institutions in Henan Province(24B520021,24B413005) and Graduate Education Reform and Quality Improvement Project in Henan Province(YJS2023JD67).

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Abstract: To solve the problem of vehicle tracking accuracy and stability degradation caused by model uncertainty resulting from tire cornering stiffness perturbation in the tracking process of intelligent vehicles,this paper proposes a tracking control method for intelligent vehicles considering the time-varying characteristics of tire cornering stiffness.Firstly,the tire lateral force estimator is established based on the improved set membership filter algorithm and the two-track dynamic model.The adaptive update rule of tire cornering stiffness is designed by using the difference between the calculated value and the estimated value of the tire lateral force model.Secondly,the real-time updated tire cornering stiffness is used to solve the real-time optimal front wheel angle,and then an ALQR intelligent vehicle tracking controller with adaptive tire cornering stiffness is proposed.The results of CarSim and Simulink co-simulation and hardware-in-the-loop simulation show that the proposed ALQR controller improves the tracking accuracy by 65.867% on average compared with LQR under the condition of high and low road adhesion coefficient.In particular,the LQR controller ignores the significant decline in tracking performance caused by changes in tire stiffness on low-adhesion roads.The proposed ALQR controller can solve the optimal front wheel angle in real time through real-time updated tire cornering stiffness to ensure vehicle tracking accuracy and stability.The tracking ALQR control method of intelligent vehicle considering real-time tire cornering stiffness proposed in this paper has good applicability.

Key words: Intelligent vehicle,Path following control,Lateral force estimation,Tire cornering stiffness,LQR,Hardware-in-the-loop(HIL)

CLC Number: 

  • U461.1
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