基于模型预测控制的智能车辆轨迹跟踪研究  

Intelligent Vehicle Trajectory Tracking Based on Model Predictive Control

作　　者：刘林[1] 葛万成[1] LIU Lin;GE Wancheng(Tongji University,Shanghai 200092,China)

机构地区：[1]同济大学,上海200092

出　　处：《信息与电脑》2022年第4期7-9,共3页Information & Computer

摘　　要：针对智能车辆轨迹跟踪控制问题,设计了一种基于模型预测控制(Model Predictive Control,MPC)的轨迹跟踪控制器。首先建立了车辆动力学模型,其次采用模型预测轮廓控制来定义损失函数,最后在不同车速条件下进行MATLAB/Simulink与Carsim联合仿真。仿真数据表明,设计的控制器鲁棒性良好且跟踪误差小,能够准确地跟踪车辆的期望轨迹。Aiming at the problem of intelligent vehicle trajectory tracking control,a trajectory tracking controller based on MPC is designed.Firstly,the vehicle dynamics model is established;Secondly,the model predictive contour control is used to define the loss function;Finally,the co-simulation of MATLAB/Simulink and Carsim is carried out under different vehicle speed conditions.Simulation data show that the designed controller has good robustness and small tracking error,and can accurately track the desired trajectory of the vehicle.

关 键 词：模型预测控制 智能车辆 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]