应用二次规划算法平滑参考线的研究

Research on smoothing reference lines by quadratic programming algorithm

研究了三次多项式拟合的道路中心参考线受纵向减速线影响抖动的问题。先构造二次规划算法以验证对曲线的平滑效果,再在Simulink里利用二次规划算法对纵向减速线导致车辆在定速巡航过程中参考线抖动的问题数据进行平滑验证。结果表明,相较于未添加算法平滑的动力学MPC控制,利用二次规划算法平滑后车辆横向偏差的峰值只有之前的50%,前轮转角的峰值仅为之前的30%,因此添加平滑算法后车辆动力学MPC控制的车辆横向偏差和前轮转角的转动范围更小,能有效地平滑掉减速标线的突变影响,减小车辆横向偏差和前轮转角,使车辆更加平稳地运行。

The problem of the road center reference line of the cubic polynomial fit being affected by the longitudinal deceleration line was studied.Firstly,a quadratic programming algorithm was constructed to verify the smoothing effect of the curve,and then the quadratic programming algorithm was used in Simulink to smooth the problem data of the reference line jitter caused by the longitudinal deceleration line during the cruise control of the vehicle.The results showed that compared with the dynamic MPC control without algorithm smoothing,the peak value of the lateral deviation of the vehicle smoothed by the quadratic planning algorithm was only 50%of the previous data,and the peak value of the front wheel angle was only 30%of the previous data.Therefore,the vehicle lateral deviation and the rotation range of the front wheel angle controlled by the vehicle dynamics MPC after adding the smoothing algorithm were smaller,which could effectively smooth out the sudden impact of the deceleration marking,reduce the lateral deviation of the vehicle and the front wheel angle,and make the vehicle run more smoothly.