Cascade Optimization Control of Unmanned Vehicle Path Tracking Under Harsh Driving Conditions

摘要

Under ultra-high-speed and harsh conditions,conventional control methods struggle to ensure the path tracking accuracy and driving stability of unmanned vehicles during the turning process.Therefore,this study proposes a cascade control to solve this problem.Based on the new vehicle error model that considers vehicle tire sideslip and road curvature,the feedforward-parametric adaptive linear quadratic regulator(LQR)and proportional integral control-based speed-keeping controllers are used to compose the path-tracking cascade optimization controller for unmanned vehicles.To improve the adaptability of the unmanned vehicle path-tracking control under harsh driving conditions,the LQR controller parameters are automatically adjusted using a back-propagation neural network,in which the initial weights and thresholds are optimized using the improved grey wolf optimization algorithm according to the driving conditions.The speed-keeping controller reduces the impact on the curve-tracking accuracy under nonlinear vehicle speed variations.Finally,a joint model of MATLAB/Simulink and CarSim was established,and simulations show that the proposed control method can achieve stable entry and exit curves at ultra-high speeds for unmanned vehicles.Under strong wind and ice road conditions,the method exhibits a higher tracking accuracy and is more adaptive and robust to external interference in driving and variable curvature roads than methods such as the feedforward-LQR,preview and pure pursuit controls.