Lateral Control of Autonomous Vehicles With Time‐Delay: An Adaptive LQR and Smith‐SMC Integrated Controller
Kuiyuan Guo, Zuoxu Zang, Yaole Yin, Zhaobo Qin, Liang Chen, Yougang Bian, Xiaoqin ZhouABSTRACT
The actuator and communication delay of autonomous vehicles affects the control accuracy deeply. It is crucial to fully consider the impact of time‐delay in vehicle motion control. Thus, considering the hydraulic steering system and CAN communication delay, the paper proposes a double‐layer lateral controller by integrating linear quadratic regulator (LQR) and Smith predictor‐sliding mode control (Smith‐SMC). In the upper level, an LQR controller is built based on the time‐delay lateral dynamics model to solve the delay problem. In the lower level, a Smith‐SMC controller is used to decrease the influence of the steering lag caused by the hydraulic steering system. Furthermore, a combination of genetic algorithms and neural networks is used for online adaptive optimisation of the LQR controller parameters to increase robustness and stability. CarSim/Simulink co‐simulation and vehicle experiment results both show that the proposed controller can significantly improve the lateral control accuracy under the influence of time delay, which shows good application prospects.