Improved Linear Quadratic Regulator Lateral Path Tracking Approach Based on a Real-Time Updated Algorithm with Fuzzy Control and Cosine Similarity for Autonomous Vehicles

Path tracking plays a crucial role in autonomous driving. In order to ensure the real-time performance of controller and at same time improve stability adaptability path controller, lateral control strategy based on improved LQR algorithm is proposed this paper. To begin with, discrete with feedforward feedback components designed error model vehicle dynamics constructed by natural coordinate system. Then, fuzzy method applied adjust weight coefficients real according state vehicle. Furthermore, an update mechanism cosine similarity reduce computational effort controller. The tested joint Simulink–Carsim simulation platform for two-lane shift maneuver. results show that improves accuracy, steering efficiency.