基于模型预测控制的路径跟踪技术研究

Path Following Technology Based on Model Predictive Control

路径跟踪控制是汽车智能驾驶的关键内容之一,其目的是减小理论参考路径和车辆实际通过的路径之间的偏差。以建立的三自由度车辆动力学模型为基础,并对动力学模型进行了简易化处理,之后设计了相应的模型预测控制算法,对车辆模型进行路径跟踪控制,通过添加多种约束,将路径跟踪问题转化为多种约束条件下求解最优值的问题。在不同的路面附着系数条件下设定不同的车速,通过Simulink和CarSim联合仿真对所提算法进行验证分析。仿真结果表明:所设计的控制器跟踪参考路径的效果比较好,大大增加了车辆行驶路径与理论规划路径的重合度,同时也提高了车辆在行驶过程中的操纵稳定性。

Path tracking control is one of the key contents of automobile intelligent driving,and its purpose is to reduce the deviation between the theoretical reference path and the actual path of the vehicle.Based on the established three-degree-of-freedom vehicle dynamics model,the dynamic model was simplified and then the corresponding model predictive control algorithm was designed to carry out path tracking of the vehicle model.By adding multiple constraints,the path tracking problem was transformed into a problem of solving the optimal value under a variety of constraints.Different vehicle speeds were set under different road adhesion coefficients,and the proposed algorithm was verified and analyzed through Simulink and CarSim co-simulation.The simulation results show that the designed controller tracks the reference path better,which greatly increases the coincidence between the vehicle driving path and the theoretical planning path,and also improves the steering stability of the vehicle during driving.