| 基于模型预测控制无人驾驶车辆避障轨迹跟踪器设计 |
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| 引用本文： | 杨朝阳,陈恳,彭丽. 基于模型预测控制无人驾驶车辆避障轨迹跟踪器设计[J]. 湖北汽车工业学院学报, 2020, 34(1): 11-15,20. DOI: 10.3969/j.issn.1008-5483.2020.01.003 |
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| 作者姓名： | 杨朝阳 陈恳 彭丽 |
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| 作者单位： | 湖北汽车工业学院 汽车动力传动与电子控制湖北省重点实验室,湖北 十堰 442002,湖北汽车工业学院 汽车动力传动与电子控制湖北省重点实验室,湖北 十堰 442002,湖北汽车工业学院 汽车动力传动与电子控制湖北省重点实验室,湖北 十堰 442002 |
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| 基金项目： | 汽车动力传动与电子控制湖北省重点实验室创新基金;湖北汽车工业学院硕士研究生创新基金 |
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| 摘 要： | 针对无人驾驶车辆的轨迹跟踪和避障问题,基于模型预测控制算法设计了避障轨迹跟踪控制器,实现避障和轨迹跟踪功能。在不同车速下采用Matlab和CarSim进行联合仿真试验,结果表明:设计的控制器控制性能和稳定性良好,能满足无人驾驶车辆的避障和轨迹跟踪需求。
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| 关 键 词： | 无人驾驶车辆 模型预测控制 轨迹跟踪 车辆避障 |
Design of Obstacle Avoidance Tracker for Unmanned Vehicle Based on Model Predictive Control |
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| Yang Zhaoyang,Chen Ken,Peng Li. Design of Obstacle Avoidance Tracker for Unmanned Vehicle Based on Model Predictive Control[J]. Journal of Hubei Automotive Industries Institute, 2020, 34(1): 11-15,20. DOI: 10.3969/j.issn.1008-5483.2020.01.003 |
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| Authors: | Yang Zhaoyang Chen Ken Peng Li |
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| Affiliation: | (Hubei Key Laboratory of Automotive Power Train and Electronic Control,Hubei University of Automotive Technology,Shiyan 442002,China) |
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| Abstract: | Aiming at the problem of trajectory tracking and obstacle avoidance of unmanned vehicles,an obstacle avoidance trajectory tracking controller was designed based on the model predictive control algorithm to realize the obstacle avoidance and trajectory tracking functions.The joint simulation tests using Matlab and CarSim at different vehicle speeds show that the designed controller has good control performance and stability,and can meet the obstacle avoidance and trajectory tracking requirements of unmanned vehicles. |
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| Keywords: | unmanned vehicle model predictive control trajectory tracking vehicle obstacle avoidance |
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