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无人驾驶汽车路面自适应MPC轨迹跟踪控制

GUO Pan,YU Leiyan

Journal of Jiangsu University(Natural Science Edition)（2023）

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Abstract
针对无人驾驶汽车轨迹跟踪工况范围狭窄、评价方法片面和路面自适应控制不足等问题,研究全车速和全道路附着系数工况轨迹跟踪精度和行驶安全性.提出路面自适应的多约束模型预测控制,由车辆3 自由度非线性动力学模型得到离散化线性时变预测模型,根据传感器检测的道路附着系数实现路面自适应的车速范围匹配,制定车速增量约束条件.融合CarSim和Matlab软件进行研究,得到路径跟踪误差、侧向加速度、质心侧偏角、前轮侧偏角最大值和标准差随车速和道路附着系数变化的规律;结合轮胎侧偏机理评价行驶安全性,划分全工况轨迹跟踪稳定区和失稳区.结果表明:根据道路附着系数自适应调节车速大小,汽车在全工况下,轨迹跟踪精度较高,行驶安全性较好.
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Key words
driverless vehicle,trajectory tracking,model predictive control,all working conditions,condition matching,road adaptation
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