基于五点插值模型预测控制的车道保持系统研究

Research on Lane Keeping System Based on Five-point Interpolation Model Predictive Control

提出了一种车道保持系统(LKS)的控制器,其参考轨迹生成方法是对传感器获得的五个预览点进行插值。它的意义在于通过使用五个点来减少对传感器的需求。此外,这五个预览点之间的距离是由纵向速度决定的。随后,将跟踪问题的模型预测控制(MPC)转化为二次规划(QP)问题,实现了控制器的计算。通过Matlab/Simulink和CarSim在不同速度下的联合仿真,验证了该方法的有效性和鲁棒性。仿真结果表明,该控制器能有效地减小车辆的侧向位移,取得较好的控制效果。

A controller for lane keeping system(LKS)is proposed,which generates the reference track by interpolating the five preview points obtained by the sensor.The point is to reduce the need for sensors by using five points.In addition,the distance between the five preview points is determined by the vertical velocity.Then,the model predictive control(MPC)of the tracking problem is transformed into a quadratic programming(QP)problem,and the calculation of the controller is realized.The effectiveness and robustness of the method are verified by the co-simulation of Matlab/Simulink and CarSim at different speeds.Then the driver in the loop simulation is verified on the hardware simulation platform.The simulation results show that the controller can effectively reduce the lateral displacement of the vehicle and achieve a good control effect.