基于变采样周期MPC的智能车辆路径跟踪分析

YANG Zhengyan,LI Zetian, WANG Jiangwu,ZHAI Dengwang, QIN Shihao

Automobile Technology（2023）

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Abstract

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.

Key words

Intelligent driving vehicles,Variable sampling period,MPC,Path tracking,Path curvature

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