基于MPC的电动无人驾驶观光车速度控制

Speed Control of Electric Self-Driving Sightseeing Vehicle Based on MPC

为保证景区内无人驾驶观光车的安全舒适性,针对某型电动观光车的速度控制问题开展研究。采用模型预测控制(MPC)算法设计观光车速度控制系统,基于Matlab/Simulink与CarSim联合仿真,依据景区内定速巡航、跟随巡航以及启停行驶3种工况,对速度控制系统的控制精度进行验证。结果表明,在所设定的性能指标要求下,所设计的速度控制系统能实现各类工况下观光车的速度跟踪,车速误差在-0.54~1.45km/h,具有较好的控制效果。

To ensure safety and comfort of self-driving sightseeing vehicles in the scenic area,the paper studies speed control of an electric sightseeing vehicle,designs speed control system of the sightseeing vehicle with model predictive control(MPC)algorithm,and verifies control accuracy of the speed control system based on joint simulation of Matlab/Simulink and CarSim,according to three conditions of constant speed cruise,follow cruise and start stop driving in the scenic area.The results show designed speed control system can achieve the speed tracking of sightseeing vehicles under various working conditions,and the speed error is between-0.54~1.45 km/h,which has a good control effect.