基于MPC的无人驾驶汽车轨迹跟踪研究

Trajectory Tracking of Unmanned Vehicle Based on MPC

随着无人驾驶技术的快速发展,轨迹跟踪控制已成为实现自动驾驶功能的核心问题之一。本文提出了采用MPC算法对无人驾驶汽车轨迹跟踪进行控制,首先建立了无人驾驶汽车运动学模型并验证了该模型的有效性,其次基于该模型设计了MPC轨迹跟踪控制器,最后通过Simulink/Carsim进行联合仿真,在仿真场景中,无人驾驶汽车以不同速度模拟了跟踪圆形轨迹和直线轨迹,仿真结果显示跟踪圆形轨迹时横向上的最大误差小于0.35m,纵向上的最大误差小于0.3m;跟踪直线轨迹时纵向上的最大误差小于0.15m。综合来看本文设计的MPC控制器能够满足无人驾驶汽车的轨迹跟踪要求。

With the rapid development of unmanned aerial vehicle technology, trajectory tracking control has become one of the key problems to realize the automatic driving function. In this paper, MPC algorithm is used to control the trajectory tracking of unmanned vehicle. Firstly, the kinematics model of unmanned vehicle is established and the validity of the model is verified, secondly, the MPC trajectory tracking controller is designed based on the model, and finally, the joint simulation is carried out through Simulink/Carsim. In the simulation scene, the unmanned vehicle simulates the track circular trajectory and the straight trajectory with different speeds, the simulation results show that the maximum error is less than 0.35 m in transverse direction and less than 0.3 m in longitudinal direction for circular track and less than 0.15 m in longitudinal direction for linear track. In a word, the MPC controller designed in this paper can meet the requirements of trajectory tracking for unmanned cars.