基于MPC和PID的无人驾驶车辆路径跟踪控制

Path tracking control of unmanned vehicle based on MPC and PID

为提高无人驾驶车辆在变曲率条件下的路径跟踪精度和稳定性,提出一种基于道路曲率车辆模型的MPC横向控制器和双PID纵向速度控制器。MPC横向控制器得到最优前轮转向角输入到无人驾驶车辆,双PID纵向速度控制器根据纵向速度、纵向位置误差环控制车辆稳定快速地达到期望速度。在Simulink-CarSim联合仿真平台对提出的方法进行仿真验证,结果表明,在极限速度工况下,MPC+双PID控制方法在横向控制性能上比传统LQR方法提高53%。

In order to improve the path tracking accuracy and stability of unmanned vehicles under the condition of variable curvature,an MPC lateral controller and dual PID longitudinal speed controller based on the road curvature vehicle model were proposed.The MPC lateral controller obtained the optimal front wheel steering angle and input it to the unmanned vehicle;the dual-PID longitudinal speed controller controlled the unmanned vehicle to reach the desired speed stably and quickly according to the longitudinal velocity error loop and the longitudinal position error loop.The proposed method was simulated and verified on the Simulink-CarSim co-simulation platform.Under the condition of extreme speed,the lateral control performance of the MPC+dual PID control method was improved by 53%compared with the traditional LQR method.