基于变采样周期MPC的智能车辆路径跟踪分析  

Analysis of Intelligent Vehicle Path Tracking Based on Variable Sampling Period MPC

作　　者：杨正艳 李泽田 王江武 翟登旺 秦世昊 YANG Zhengyan;LI Zetian;WANG Jiangwu;ZHAI Dengwang;QIN Shihao(School of Automobile,Chang'an University,Xi'an 710064,China)

机构地区：[1]长安大学汽车学院,陕西西安710064

出　　处：《汽车实用技术》2023年第13期56-63,共8页Automobile Applied Technology

摘　　要：通过建立汽车动力学模型,考虑采样周期对轨迹跟踪精度和实时性的影响,分别以路径曲率和车辆状态参数为采样周期判断条件进行仿真分析,最终设计了以冗余车辆状态参数为切换条件的自适应变采样周期模型预测控制(MPC)路径跟踪控制器。仿真结果表明,与固定采样周期的MPC控制器相比,基于冗余状态条件的自适应采样周期的MPC控制器在路径跟踪方面兼顾很好的实时性和跟踪精度。Through the establishment of vehicle dynamics model,considering the sampling period influence on trajectory tracking precision and real time performance,respectively by path curvature and vehicle state parameter for the sampling period judgement conditions for simulation analysis,the final design to redundant state parameter for the switching condition of adaptive variable sampling period model predictive control(MPC)path tracking controller.Simulation results show that compared with MPC controller with fixed sampling period,the MPC controller with adaptive sampling period based on redundant state conditions has good real time performance and tracking accuracy in path tracking.

关 键 词：智能驾驶车辆 变采样周期 MPC 路径跟踪 路径曲率 

分 类 号：U463.6[机械工程—车辆工程]