基于模型预测控制的无人驾驶车辆纵向跟车控制研究

Research on longitudinal car-following control of unmanned vehicle based on model predictive control

为提升自适应巡航系统(adaptive cruise control,ACC)在纵向跟车工况下的安全性及乘车舒适性,基于模型预测控制(model predictive control,MPC)设计了面向无人驾驶车辆的跟车控制器,并在Matlab/Carsim联合仿真平台中搭建仿真模型,对该控制器在纵向跟车工况下的有效性进行验证,仿真结果表明:基于MPC的控制器可以使车辆在纵向跟车工况下实现稳定速度跟随并保持安全车距,同时车辆的实际加速度与期望加速度一致,能够保持在舒适范围内。

In order to improve the safety and ride comfort of adaptive cruise control(ACC)in longitudinal car-following conditions,a following controller for unmanned vehicles is designed based on model predictive control(MPC).A simulation model is built on the Matlab/Carsim co-simulation platform to verify the effectiveness of the controller in longitudinal car-following conditions.The simulation results show that:The controller based on MPC can make the vehicle achieve stable speed following and maintain safe vehicle distance in longitudinal car-following condition,and the actual acceleration of the vehicle is consistent with the expected acceleration,which can keep within the comfortable range.