MPC-based intelligent vehicle path tracking control method and system

An intelligent vehicle and path tracking technology, applied in vehicle position/route/altitude control, control/adjustment system, two-dimensional position/channel control, etc. Control requirements, etc.

Inactive Publication Date: 2020-11-13
GUANGXI UNIVERSITY OF TECHNOLOGY
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  • Claims
  • Application Information

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Problems solved by technology

[0003] Path tracking control means that the intelligent vehicle can follow the path obtained by the path planning layer and make the vehicle run safely and stably on the road. The main purpose of path tracking control is to output the corresponding Control variables, such as wheel braking force, front wheel angle, etc., in the early research on intelligent vehicles, it was found that most of the geometric control algorithms were used to control the path, such as the ring preview method and pure tracking algorithm, but because the vehicle has multiple degrees of freedom And it has high coupling, so the early algorithm can

Method used

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  • MPC-based intelligent vehicle path tracking control method and system
  • MPC-based intelligent vehicle path tracking control method and system
  • MPC-based intelligent vehicle path tracking control method and system

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Embodiment 1

[0052] refer to Figure 1 to Figure 6 , is the first embodiment of the present invention, this embodiment provides a kind of MPC-based intelligent vehicle path tracking control method, comprising:

[0053] S1: Establish a three-degree-of-freedom dynamic model based on the structure of the physical intelligent vehicle and analyze it to obtain the geometric constraints that meet the vehicle's motion. It should be noted that, referring to figure 2 , to establish a three-degree-of-freedom dynamic model, including:

[0054] Establish the xoy coordinate system according to the structure of the physical intelligent vehicle, define the x-axis perpendicular to the vehicle axis and pointing to the forward direction of the vehicle, and the y-axis starting from the center of mass of the vehicle and parallel to the vehicle axis;

[0055] According to the kinematic constraints of the front and rear of the vehicle, the following equations are obtained,

[0056]

[0057] Among them, (X...

Embodiment 2

[0154] refer to Figure 7 , which is the second embodiment of the present invention, this embodiment is different from the first embodiment in that it provides a MPC-based intelligent vehicle path tracking control system, including:

[0155] The perception module 100 is used to collect real-time data of the external environment and various power parameters of the intelligent vehicle while driving.

[0156] The decision-making module 200 is connected to the perception module 100, and it is used to receive and process the data information of the perception module 100. The decision-making module 200 includes a calculation unit 201, a storage unit 202 and an input-output management unit 203. The calculation unit 201 is used to construct an objective function and an equation, model, calculate and process various operational data, obtain the calculation results to generate decisions, the storage unit 202 is used to store the data information received and processed by the decision-ma...

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Abstract

The invention discloses an MPC-based intelligent vehicle path tracking control method and system. The method comprises the steps of: building a three-degree-of-freedom kinetic model according to an entity intelligent vehicle structure, and analyzing the three-degree-of-freedom kinetic model to obtain a geometric constraint condition meeting the movement and driving of a vehicle; constructing an objective function by using a multi-objective optimization strategy, and converting the nonlinear kinetic model into a linear model to obtain a state-space equation; constructing a predictive control model based on the state-space equation, and performing optimal solution according to the objective function and the constraint condition to generate an optimal control sequence; and inputting the optimal control sequence into the intelligent vehicle to control the vehicle to track a target trajectory. The vehicle driving stability is improved, the control requirement and stability of an existing intelligent vehicle are met, high constraint processing capacity is achieved, and high feasibility and stability are achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicle control, in particular to an MPC-based intelligent vehicle path tracking control method and system. Background technique [0002] During the driving process, the driver understands the road conditions through visual feedback and controls the driving direction. In the actual driving process, the driver will be disturbed by many external factors and has instability. This traditional vehicle driving mode The shortcomings are becoming more and more prominent, which leads to frequent traffic accidents. In view of the current traffic safety problems, the emergence of intelligent vehicles has placed people's hopes for effectively solving these problems. Intelligent vehicles sense the surrounding environment through the sensor devices equipped on the vehicle. The use of artificial intelligence technology to simulate human driving habits and the way of dealing with emergency accidents avoids th...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/0276G05D2201/0213
Inventor 王智文查敏王宇航冯晶曹新亮
Owner GUANGXI UNIVERSITY OF TECHNOLOGY
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