Automatic parking trajectory tracking control strategy on LQR and PID

This study selects two degree of freedom dynamic model as the research object, and automatic parking process is analyzed. The longitudinal cascade controller speed PID position used to control motion vehicle. lateral tracking based on LQR optimal theory adopted, feedforward added form controller. Based co-simulation platform MATLAB/Simulink CarSim, function designed trajectory strategy verified. car test was completed. ultrasonic sensor, raspberry pie Arduino were main parts build an intelligent simulate performance in real Software simulation results vehicle showed that can ensure path under normal speed, has good accuracy, real-time driving stability.