A Design Method of Model Predictive Controller for Driverless Vehicle
A technology for unmanned vehicles and model prediction, applied in the direction of control devices, etc., can solve problems such as reducing the accuracy of prediction results, and achieve the effects of improving prediction accuracy, accuracy and control accuracy.
Active Publication Date: 2020-06-05
TIANJIN UNIV
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In addition, in the process of using the model of the controlled object to predict the state of the system, MPC will linearize the model to a certain extent, which will also reduce the accuracy of the prediction results
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[0054] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings. The following specific design methods are used to explain the present invention, but not to limit the present invention.
[0055] The unmanned driving model predictive controller design method based on side slip angle compensation and arc prediction of the present invention, by performing side slip angle compensation on the front wheel slip angle, thereby obtaining the real direction of travel of the tire, and then improving the accuracy of the kinematics model and scope of application. The overall process of the method is as follows Figure 4 As shown, the specific steps are as follows:
[0056] Step 1. The MPC based on the kinematic model predicts the model of the vehicle through the vehicle speed and the front wheel slip angle, and establishes the tire slip angle model;
[0057] like figure 1 As shown, when the tire...
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The invention discloses a method for designing a model predictive controller of a driverless automobile, which comprises the following steps: (1) establishing a tire sideslip angle model alpha; (2) designing a model predictive controller based on lateral deflection angle compensation and arc prediction; Step (3), predicting the output of the next time according to the speed of the vehicle and thecenter and radius of the arc; Step (4), constructing an optimization problem according to the predicted output and the given reference output; Step (5), solving the optimization problem (8), obtainingthe optimal control quantity U* (k) at each sampling time in the control time domain, and applying the first component of U* (k) to the system. The front wheel side deflection angle compensation of the invention rapidly obtains the front wheel deflection angle of the vehicle, and greatly improves the accuracy of the kinematics model under the bad weather and the high-speed driving state; Arc prediction can compensate the state error caused by the linearization of the model in the prediction process, so as to improve the prediction accuracy of MPC based on kinematics model, thereby improving the control accuracy and expanding the application scope.
Description
technical field [0001] The invention relates to the field of unmanned vehicle controller design, in particular to a design method of an unmanned vehicle model prediction controller based on side slip angle compensation and arc prediction. Background technique [0002] Unmanned driving is of great significance in automated industry, transportation, military, environment, etc. In recent years, under the strong promotion of artificial intelligence, this technology has gradually attracted widespread attention from all walks of life. Autonomous vehicles usually include four modules: global path planning, environment perception, local path planning and trajectory tracking. Among them, trajectory tracking consisting of lateral control and vertical control is the basic link of unmanned driving, and plays a pivotal role in improving the safety of unmanned driving and optimizing the riding experience of passengers. After nearly ten years of development, autonomous driving has made gr...
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IPC IPC(8): B60W50/00
CPCB60W50/00B60W2050/0031
Inventor 左志强杨孟佳王一晶
Owner TIANJIN UNIV