基于自适应模型预测控制的智能车轨迹跟踪

针对传统模型预测算法在智能车辆轨迹跟踪的局限性,引入随道路曲率变化的速度自适应调节算法,设计轨迹跟踪控制器。设计目标函数及添加约束条件,通过Matlab/Simulink软件,在不同车速下与传统算法进行比较,仿真结果表明:不同的纵向车速对传统算法的轨迹跟踪有一定的影响,而对改进后的算法影响较小。尤其当车速较高时,改进后的算法轨迹误差更小,能保证车辆安全、稳定地行驶。

Trajectory Tracking for Intelligent Vehicle Based on Adaptive Model Predictive Control

Aiming at the limitation of traditional model predictive control algorithm in intelligent vehicle trajectory tracking,the speed adaptive adjustment with the change of road curvature was introduced,and the trajectory tracking controller was designed.The objective function was designed and the constraints were added.Through the Matlab/Simulink software,the simulation results show that the different longitudinal speed has a certain impact on the track tracking of the traditional algorithm,but has little impact on the improved algorithm.Especially when the vehicle speed is high,the trajectory error of the improved algorithm is smaller,which can ensure the safe and stable driving of the vehicle.