横向LQR、纵向PID控制进行轨迹跟踪以及python实现

横向LQR、纵向PID控制进行轨迹跟踪以及python实现

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一、LQR问题模型建立：

理论部分比较成熟，这里只介绍demo所使用的建模方程：

使用离散代数黎卡提方程求解

系统状态矩阵：

输入矩阵：

A矩阵：

B矩阵：

二、代码实现

# 导入相关包

import math
import sys
import os

import matplotlib.pyplot as plt
import numpy as np
import scipy.linalg as la

# cubic_spline_planner为自己实现的三次样条插值方法
try:
    from cubic_spline_planner import *
except ImportError:
    raise

设置轨迹途经点并生成轨迹：

# 设置轨迹会经过的点
ax = [0.0, 6.0, 12.5, 10.0, 17.5, 20.0, 25.0]
ay = [0.0, -3.0, -5.0, 6.5, 3.0, 0.0, 0.0]
goal = [ax[-1], ay[-1]]

# 使用三次样条插值方法，根据途经点生成轨迹，x、y、yaw、曲率k，距离s
cx, cy, cyaw, ck, s = calc_spline_course(
        ax, ay, ds=0.1)

# 绘制规划好的轨迹
plt.plot(ax, ay, "xb", label="waypoints")
plt.plot(cx, cy, "-r", label="target course")

生成的轨迹如下：

设置期望速度：

# 设置目标速度
target_speed = 10.0 / 3.6  # simulation parameter km/h -> m/s


speed_profile = [target_speed] * len(cyaw)

direction = 1.0

# 转弯幅度较大时将速度设置为0，并将速度方向翻转
# Set stop point
for i in range(len(cyaw) - 1):
    dyaw = abs(cyaw[i + 1] - cyaw[i])
    switch = math.pi / 4.0 <= dyaw < math.pi / 2.0

    if switch:
        direction *= -1

    if direction != 1.0:
        speed_profile[i] = - target_speed
    else:
        speed_profile[i] = target_speed

    if switch:
        speed_profile[i] = 0.0

# 靠近目的地时，速度降低        
# speed down
for i in range(40):
    speed_profile[-i] = target_speed / (50 - i)
    if speed_profile[-i] <= 1.0 / 3.6:
        speed_profile[-i] = 1.0 / 3.6
        
plt.plot(speed_profile, "-b", label="speed_profile")

期望速度如下：

定义求解所需要的数据结构与方法：

# 定义LQR 计算所需要的数据结构，以及DLQR的求解方法

# State 对象表示自车的状态，位置x、y，以及横摆角yaw、速度v
class State:

    def __init__(self, x=0.0, y=0.0, yaw=0.0, v=0.0):
        self.x = x
        self.y = y
        self.yaw = yaw
        self.v = v

# 更新自车的状态，采样时间足够小，则认为这段时间内速度相同，加速度相同，使用匀速模型更新位置
def update(state, a, delta):

    if delta >= max_steer:
        delta = max_steer
    if delta <= - max_steer:
        delta = - max_steer

    state.x = state.x + state.v * math.cos(state.yaw) * dt
    state.y = state.y + state.v * math.sin(state.yaw) * dt
    state.yaw = state.yaw + state.v / L * math.tan(delta) * dt
    state.v = state.v + a * dt

    return state


def pi_2_pi(angle):
    return (angle + math.pi) % (2 * math.pi) - math.pi


# 实现离散Riccati equation 的求解方法
def solve_dare(A, B, Q, R):
    """
    solve a discrete time_Algebraic Riccati equation (DARE)
    """
    x = Q
    x_next = Q
    max_iter = 150
    eps = 0.01

    for i in range(max_iter):
        x_next = A.T @ x @ A - A.T @ x @ B @ \
                 la.inv(R + B.T @ x @ B) @ B.T @ x @ A + Q
        if (abs(x_next - x)).max() < eps:
            break
        x = x_next

    return x_next

# 返回值K 即为LQR 问题求解方法中系数K的解
def dlqr(A, B, Q, R):
    """Solve the discrete time lqr controller.
    x[k+1] = A x[k] + B u[k]
    cost = sum x[k].T*Q*x[k] + u[k].T*R*u[k]
    # ref Bertsekas, p.151
    """

    # first, try to solve the ricatti equation
    X = solve_dare(A, B, Q, R)

    # compute the LQR gain
    K = la.inv(B.T @ X @ B + R) @ (B.T @ X @ A)

    eig_result = la.eig(A - B @ K)

    return K, X, eig_result[0]

# 计算距离自车当前位置最近的参考点
def calc_nearest_index(state, cx, cy, cyaw):
    dx = [state.x - icx for icx in cx]
    dy = [state.y - icy for icy in cy]

    d = [idx ** 2 + idy ** 2 for (idx, idy) in zip(dx, dy)]

    mind = min(d)

    ind = d.index(mind)

    mind = math.sqrt(mind)

    dxl = cx[ind] - state.x
    dyl = cy[ind] - state.y

    angle = pi_2_pi(cyaw[ind] - math.atan2(dyl, dxl))
    if angle < 0:
        mind *= -1

    return ind, mind

设置起点参数：

# 设置起点的参数
T = 500.0  # max simulation time
goal_dis = 0.3
stop_speed = 0.05

state = State(x=-0.0, y=-0.0, yaw=0.0, v=0.0)

time = 0.0
x = [state.x]
y = [state.y]
yaw = [state.yaw]
v = [state.v]
t = [0.0]

pe, pth_e = 0.0, 0.0

使用LQR算法计算轨迹跟踪需要的加速度与前轮转角：

# 配置LQR 的参数
# === Parameters =====

# LQR parameter
lqr_Q = np.eye(5)
lqr_R = np.eye(2)
dt = 0.1  # time tick[s]，采样时间
L = 0.5  # Wheel base of the vehicle [m]，车辆轴距
max_steer = np.deg2rad(45.0)  # maximum steering angle[rad]

show_animation = True

while T >= time:
    ind, e = calc_nearest_index(state, cx, cy, cyaw)
    
    sp = speed_profile
    tv = sp[ind]

    k = ck[ind]
    v_state = state.v
    th_e = pi_2_pi(state.yaw - cyaw[ind])

    # 构建LQR表达式，X(k+1) = A * X(k) + B * u(k), 使用Riccati equation 求解LQR问题
#     dt表示采样周期，v表示当前自车的速度
#     A = [1.0, dt, 0.0, 0.0, 0.0
#          0.0, 0.0, v, 0.0, 0.0]
#          0.0, 0.0, 1.0, dt, 0.0]
#          0.0, 0.0, 0.0, 0.0, 0.0]
#          0.0, 0.0, 0.0, 0.0, 1.0]
    A = np.zeros((5, 5))
    A[0, 0] = 1.0
    A[0, 1] = dt
    A[1, 2] = v_state
    A[2, 2] = 1.0
    A[2, 3] = dt
    A[4, 4] = 1.0

    # 构建B矩阵，L是自车的轴距
    # B = [0.0, 0.0
    #     0.0, 0.0
    #     0.0, 0.0
    #     v/L, 0.0
    #     0.0, dt]
    B = np.zeros((5, 2))
    B[3, 0] = v_state / L
    B[4, 1] = dt

    K, _, _ = dlqr(A, B, lqr_Q, lqr_R)

    # state vector，构建状态矩阵
    # x = [e, dot_e, th_e, dot_th_e, delta_v]
    # e: lateral distance to the path， e是自车到轨迹的距离
    # dot_e: derivative of e， dot_e是自车到轨迹的距离的变化率
    # th_e: angle difference to the path， th_e是自车与期望轨迹的角度偏差
    # dot_th_e: derivative of th_e， dot_th_e是自车与期望轨迹的角度偏差的变化率
    # delta_v: difference between current speed and target speed，delta_v是当前车速与期望车速的偏差
    X = np.zeros((5, 1))
    X[0, 0] = e
    X[1, 0] = (e - pe) / dt
    X[2, 0] = th_e
    X[3, 0] = (th_e - pth_e) / dt
    X[4, 0] = v_state - tv

    # input vector，构建输入矩阵u
    # u = [delta, accel]
    # delta: steering angle，前轮转角
    # accel: acceleration，自车加速度
    ustar = -K @ X

    # calc steering input
    ff = math.atan2(L * k, 1)  # feedforward steering angle
    fb = pi_2_pi(ustar[0, 0])  # feedback steering angle
    delta = ff + fb

    # calc accel input
    accel = ustar[1, 0]
    
    dl, target_ind, pe, pth_e, ai = delta, ind, e, th_e, accel
    
    state = update(state, ai, dl)

    if abs(state.v) <= stop_speed:
        target_ind += 1

    time = time + dt

    # check goal
    dx = state.x - goal[0]
    dy = state.y - goal[1]
    if math.hypot(dx, dy) <= goal_dis:
        print("Goal")
        break

    x.append(state.x)
    y.append(state.y)
    yaw.append(state.yaw)
    v.append(state.v)
    t.append(time)

    if target_ind % 100 == 0 and show_animation:
        plt.cla()
        # for stopping simulation with the esc key.
        plt.gcf().canvas.mpl_connect('key_release_event',
                lambda event: [exit(0) if event.key == 'escape' else None])
        plt.plot(cx, cy, "-r", label="course")
        plt.plot(x, y, "ob", label="trajectory")
        plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")
        plt.axis("equal")
        plt.grid(True)
        plt.title("speed[km/h]:" + str(round(state.v * 3.6, 2))
                  + ",target index:" + str(target_ind) + ", time si: " + str(time))
        plt.pause(0.1)

结果可视化：

if show_animation:  # pragma: no cover
        plt.close()
        plt.subplots(1)
        plt.plot(ax, ay, "xb", label="waypoints")
        plt.plot(cx, cy, "-r", label="target course")
        plt.plot(x, y, "-g", label="tracking")
        plt.grid(True)
        plt.axis("equal")
        plt.xlabel("x[m]")
        plt.ylabel("y[m]")
        plt.legend()

        plt.subplots(1)
        plt.plot(s, [np.rad2deg(iyaw) for iyaw in cyaw], "-r", label="yaw")
        plt.grid(True)
        plt.legend()
        plt.xlabel("line length[m]")
        plt.ylabel("yaw angle[deg]")

        plt.subplots(1)
        plt.plot(s, ck, "-r", label="curvature")
        plt.grid(True)
        plt.legend()
        plt.xlabel("line length[m]")
        plt.ylabel("curvature [1/m]")

        plt.show()

轨迹跟踪结果：

三、结果分析

LQR算法一般用在NOP、TJA、LCC这些功能的横向控制，几种典型工况的轨迹跟踪效果如下：

1、正常变道工况

2、转弯工况

3、轴距对控制效果的影响

L = 0.5

L = 2.5