The invention relates to a predictive-control trajectory tracking method for a high-speed autonomous vehicle. The method specifically comprises the following steps: establishing a vehicle model; establishing a vehicle convex polytope model including the tire cornering stiffness and the longitudinal speed based on the vehicle model; the automatic driving automobile executes trajectory planning, fits a reference trajectory based on a Bezier curve, and calculates the road curvature in real time; constructing a robustness objective function for expressing a trajectory tracking error and stability constraint based on a vehicle convex polytope model; and constructing a discrete neural network model to solve an objective function, obtaining an optimal control quantity, and inputting the optimal control quantity into a vehicle for execution. According to the high-speed automatic driving automobile trajectory tracking method based on the fast robust model predictive control, the solving efficiency of a control algorithm is improved, a good trajectory tracking effect can be kept when an automatic driving automobile runs at a high speed, and stable running of the automobile is guaranteed.
本发明涉及一种预测控制的高速自动驾驶汽车轨迹跟踪方法,具体包括:建立车辆模型;基于车辆模型建立包括轮胎侧偏刚度与纵向速度的车辆凸多胞体模型;自动驾驶汽车执行轨迹规划,并基于贝塞尔曲线拟合参考轨迹,实时计算道路曲率;基于车辆凸多胞体模型构建表达轨迹跟踪误差和稳定性约束的鲁棒性目标函数;构建离散神经网络模型求解目标函数,获得最优控制量,并输入车辆执行。上述基于快速鲁棒模型预测控制的高速自动驾驶汽车轨迹跟踪方法,提高了控制算法的求解效率,并实现了自动驾驶汽车在高速行驶时能保持良好的轨迹跟踪效果,保证车辆稳定行驶。
Predictive control high-speed automatic driving automobile trajectory tracking method
一种预测控制的高速自动驾驶汽车轨迹跟踪方法
2022-06-03
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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