基于MPC的无人驾驶汽车轨迹跟踪研究  

Research on Trajectory Tracking of Driverless Cars Based on MPC

作　　者：李士强 张肖景 闫光玉 Li Shiqiang;Zhang Xiaojing;Yan Guangyu(Shijiazhuang Science and Technology Vocational College,Shijiazhuang 052160,China)

机构地区：[1]石家庄科技职业学院,河北石家庄052160

出　　处：《专用汽车》2025年第4期73-74,91,共3页Special Purpose Vehicle

摘　　要：随着无人驾驶技术的快速发展和广泛应用,轨迹跟踪控制已成为实现安全、可靠的自动驾驶功能的核心问题之一。基于此,提出一种基于模型预测控制(MPC)的无人驾驶汽车轨迹跟踪方法,以提高车辆在不同工况下的跟踪精度和稳定性。首先,建立了简化的无人驾驶汽车三自由度运动学模型,并对其进行了线性化和离散化处理。其次,基于该模型设计了MPC轨迹跟踪控制器,详细推导了目标函数和约束条件,并将其转化为二次规划问题进行求解。最后,通过Simulink/Carsim联合仿真平台,对所设计的控制器进行了验证。仿真结果表明,在圆形轨迹和直线轨迹跟踪中,MPC控制器均表现出良好的性能,横向最大误差小于0.35 m,纵向最大误差小于0.3 m(圆形轨迹)和0.15 m(直线轨迹),且在不同车速下均能保持较高的跟踪精度。所设计的MPC控制器能够有效满足无人驾驶汽车的轨迹跟踪要求,为无人驾驶系统的实际应用提供了一定的参考价值。With the rapid development and wide application of unmanned driving technology,trajectory tracking control has become one of the core issues to achieve safe and reliable autonomous driving functions.This paper aims to propose a model predictive control(MPC)based track tracking method for unmanned vehicles to improve the tracking accuracy and stability of vehicles under different working conditions.Firstly,a simplified three-degree-of-freedom kinematics model of unmanned vehicle is established and linearized and discretized.Secondly,the MPC trajectory tracking controller is designed based on the model,and the objective function and constraint conditions are derived in detail,which are transformed into a quadratic programming problem for solving.Finally,the controller is verified by Simulink/Carsim co-simulation platform.The simulation results show that the MPC controller has good performance in both circular trajectory and linear trajectory tracking.The maximum lateral error is less than 0.35m,and the maximum longitudinal error is less than 0.3m(circular trajectory)and 0.15m(linear trajectory),and the tracking accuracy can be maintained at different vehicle speeds.In summary,the MPC controller designed in this paper can effectively meet the trajectory tracking requirements of unmanned vehicles,and provides a certain reference value for the practical application of unmanned systems.

关 键 词：无人驾驶汽车 模型预测控制(MPC) 轨迹跟踪 运动学模型 

分 类 号：U461[机械工程—车辆工程]