PID embedded LQR for automatic driving vehicles

摘要

To provide a LQR (linear secondary regulator) control system capable of processing feedback error like drift error in a lateral direction.SOLUTION: A system receives a reference locus including a reference path which an ADV should follow. The system controls the ADV along the reference path using a path following algorithm. The control comprises: determining a first lateral direction distance error; determining a second lateral direction distance error for compensating a lateral direction drift on the basis of the first lateral direction distance error by the proportion-integration-differentiation (PID) control system; and generating a steering command on the basis of the second lateral direction distance error using the path following algorithm for controlling the ADV so as to minimize a lateral direction distance error such as a lateral direction distance between an actual path which the ADV uses and a reference path.SELECTED DRAWING: Figure 8