基于模型预测控制的车辆路径跟踪控制技术研究

Research on vehicle path tracking control technology based on model predictive control

以车辆三自由度动力学模型为研究对象,对自动驾驶车辆模型预测控制算法进行研究。结合魔术轮胎模型线性区域和小角度假设理论对车辆动力学模型进行简化处理,设计基于模型预测控制算法的路径跟踪控制器。使用MATLAB/CarSim联合仿真平台,选用多组工况进行仿真试验。设定车辆的速度分别为低速、中速、高速3种状态,并且使用线性二次型最优控制器进行换道工况路径跟踪,与模型预测控制器进行控制效果对比与分析,结果表明,模型预测控制算法路径跟踪控制效果更加优秀。

Taking the three-degree-of-freedom dynamic model of vehicles as the research object,the predictive control algorithm of autonomous vehicle model was studied.Combined with the linear region of the magic tire model and the small angle hypothesis theory,the vehicle dynamics model was simplified,and the path tracking controller based on the model predictive control algorithm was designed.In the MATLAB/CarSim joint simulation platform,using the MATLAB/CarSim joint simulation platform,multiple working conditions were selected for simulation tests.The speed of the vehicle was set three states of low-speed,medium-speed,high-speeds,and the LQR(Linear Quadratic Regulator)algorithm design controller were used for path tracing of lane changing conditions,and compared and analyzed with model predictive controller for the effect.The results showed that the path tracking control effect of the model predictive control algorithm was better.