基于模型预测控制的智能车辆轨迹跟踪仿真  

Simulation of Intelligent Vehicle Trajectory Tracking Based on Model Predictive Control

作　　者：张喜清[1] 李进 陈殿民 马志光 ZHANG Xi-qing;LI Jin;CHEN Dian-min;MA Zhi-guang(College of Vehicle and Transportation Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China;College of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]太原科技大学车辆与交通工程学院,山西太原030024 [2]太原科技大学机械工程学院,山西太原030024

出　　处：《计算机仿真》2024年第10期114-120,共7页Computer Simulation

基　　金：山西省科技重大专项项目(20181102002)。

摘　　要：为提高智能车辆在不同速度下轨迹跟踪的精度和行驶稳定性,基于三自由度车辆动力学模型和模型预测控制算法(MPC),设计了自适应调整最优时域的控制律,基于实际前轮转角与预测前轮转角的误差特性,搭建了可利用PID反馈补偿前轮转角的MPC轨迹跟踪控制器。针对不同速度工况下,经Matlab/Simulink和CarSim联合仿真,仿真结果表明,自适应调整最优时域的MPC-PID控制器相比固定时域MPC控制器,跟踪精度得到了提升,且能保证受控车辆的稳定性。In order to improve the tracking accuracy and driving stability of intelligent vehicles at different speeds,based on the three degree of freedom vehicle dynamics model and the model predictive control algorithm(MPC),a control law with adaptive adjustment in the optimal time domain was designed in the paper.Based on the error characteristics of the actual front wheel angle and the predicted front wheel angle,a MPC tracking controller that can compensate the front wheel angle using PID feedback was built.Under different speed conditions,through the joint simulation of Matlab/Simulink and CarSim,the simulation results show that the MPC-PID controller with adaptive adjustment of the optimal time domain can improve the tracking accuracy compared with the fixed time domain MPC controller,and can ensure the stability of the controlled vehicle.

关 键 词：智能车辆 最优时域 轨迹跟踪 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]