| 基于自适应模型预测的智能汽车轨迹跟踪控制研究 |
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| 作者姓名： | 路宏广 聂小芮 顾凯峰 |
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| 作者单位： | 重庆交通大学 机电与车辆工程学院,重庆 400074;重庆交通大学 机电与车辆工程学院,重庆 400074;重庆交通大学 机电与车辆工程学院,重庆 400074 |
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| 摘 要： | 针对车辆纵、横向跟踪的强耦合、非线性特性,设计了基于自适应模型预测控制理论的轨迹跟踪控制器.同时考虑纵、横向跟踪控制,并引入线性变参数模型(LPV),把纵向速度对横向跟踪的影响转化为LPV模型中调度参数的变化,把纵、横向跟踪的高度非线性动力学模型转化为LTI模型的插值队列,以用于自适应纵向速度的改变.基于预测控制理论,...
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| 关 键 词： | 轨迹跟踪控制 自适应控制 模型预测控制 智能驾驶 |
Research on Intelligent Vehicle Trajectory Tracking Control Based onAdaptive Model Prediction |
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| Authors: | Lu Hongguang Nie Xiaorui Gu Kaifeng |
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| Institution: | (School of Mechatronics and Vehicle Engineering Chongqing Jiaotong University,Chongqing 400074) |
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| Abstract: | Aiming at the strong coupling and nonlinear characteristics of vehicle longitudinal and longitudinal tracking,a trajectory tracking controller based on adaptive model predictive control theory is designed.At the same time,linear parameter-varying model(LPV)is introduced,to transform the influence of longitudinal velocity on transverse tracking into the change of scheduling parameters in LPV model,and the highly nonlinear dynamic model of longitudinal and longitudinal tracking is converted into the interpolation queue of LTI model,to adapt to the change of longitudinal velocity.Based on the predictive control theory,the constraint conditions are analyzed and the cost function in the predictive time domain is designed.Finally,the simulation results show that the controller has good timeliness. |
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| Keywords: | Trajectory tracking control Adaptive control Model predictive control Autonomous driving |
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