The invention provides a trajectory optimization method based on vehicle kinematic model predictive control. According to the method, starting from a basic vehicle kinematic model (single vehicle model), a model predictive control method (MPC, Model Predictive Control) is combined, and a trajectory optimization model based on the MPC is established. On the basis of receiving the reference trajectory generated by the upstream planning module, a smooth trajectory meeting the kinematics of the vehicle can be calculated through an optimization method. The final calculation result meets the automobile control requirement, and meanwhile the method has the good running speed and can be applied to intelligent driving automobiles.
本发明提供了一种基于车辆运动学模型预测控制的轨迹优化方法。本发明从基本车辆运动学模型(单车模型)出发,结合了模型预测控制方法(MPC,Model Predictive Control),建立了基于MPC的轨迹优化模型。在接收到上游规划模块生成的参考轨迹的基础上,可以通过优化方法计算出满足车辆运动学的平缓轨迹。最终的计算结果满足汽车控制要求,同时该发明有着良好的运行速度,可以应用于智能驾驶汽车。
Trajectory optimization method based on vehicle kinematic model predictive control
基于车辆运动学模型预测控制的轨迹优化方法
2022-12-09
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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