The invention discloses an improved MPC trajectory tracking control method for an autonomous vehicle based on a neural network. The method comprises the following steps: establishing a nonlinear three-degree-of-freedom vehicle dynamics model; based on the non-linear relation between the lateral force and the sideslip angle of the tire and the non-linear relation between the longitudinal force and the longitudinal slip ratio, the lateral speed and the yaw velocity of the non-linear three-degree-of-freedom vehicle dynamics model are compensated in a self-adaptive mode through a neural network; establishing a prediction model based on the nonlinear three-degree-of-freedom vehicle dynamics model after adaptive compensation, designing a target function with soft constraint according to a trajectory tracking control target, and establishing an improved nonlinear model prediction controller; and performing online training on the improved nonlinear model predictive controller by using real-time operation data to enable the nonlinear model predictive controller to achieve a preset tracking control effect. According to the method, the prior physical knowledge and the existing vehicle model are effectively integrated, so that the trajectory tracking precision is improved.

    本发明公开了一种基于神经网络的自动驾驶汽车改进MPC轨迹跟踪控制方法,包括:建立非线性三自由度车辆动力学模型;基于轮胎的侧向力与侧滑角、纵向力与纵向滑移比之间的非线性关系,利用神经网络自适应补偿所述非线性三自由度车辆动力学模型的侧向速度和横摆角速度;基于自适应补偿后的所述非线性三自由度车辆动力学模型建立预测模型,根据轨迹跟踪控制目标,设计带有软约束的目标函数,建立改进后的非线性模型预测控制器;利用实时运行数据对改进后的所述非线性模型预测控制器进行在线训练,使所述非线性模型预测控制器达到预设的跟踪控制效果。本发明有效地集合了先验的物理知识和车辆的现有模型,从而提高轨迹跟踪精度。


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    Title :

    Improved MPC trajectory tracking control method for autonomous vehicle based on neural network


    Additional title:

    基于神经网络的自动驾驶汽车改进MPC轨迹跟踪控制方法


    Contributors:
    LI ZHIHENG (author) / OUYANG CHENGYE (author)

    Publication date :

    2024-07-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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