Predictive control optimization method and device for autonomous vehicle
A predictive control and optimization method technology, applied in the computer field, can solve the problems of high rollover risk, low control effect accuracy, and tire dynamics vehicle model are not considered, so as to prevent rollover, improve trajectory following accuracy, and improve control effect Effect
Pending Publication Date: 2021-12-07
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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[0004] The control method based on the kinematic model does not consider factors such as tire dynamics and the time-varying nature of the vehicle model with speed, resulting in low control accuracy and high rollover risk when the vehicle is driving at high speed when detours and corners
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[0137] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
[0138] The main function of the automatic driving trajectory tracking controller in the automatic driving software system is to drive the vehicle on the planned trajectory. In the current mainstream application, it is divided into upper and lower controllers. The main function of the upper controller is to process the reference trajectory, And generate acceleration command...
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The invention discloses a predictive control optimization method and device for an autonomous vehicle, and relates to the technical field of computers. One embodiment of the method comprises the steps of obtaining an optimization function based on a vehicle dynamics model, wherein decision variables of the optimization function comprise a state variable and a control increment; obtaining vehicle real-time driving parameters and a reference trajectory, and obtaining decision variables of the optimization function according to the vehicle real-time driving parameters and the vehicle reference trajectory; determining constraint conditions to constrain the optimization function according to vehicle operation indexes, wherein the constraint conditions comprise a front wheel rotation angle increment constraint, a front wheel rotation angle constraint, an acceleration increment constraint, an acceleration constraint, a transverse acceleration constraint and a tire slip angle constraint; and constructing an optimization model according to the optimization function and the constraint condition, and optimizing the decision variable by using the optimization model to enable the result of the optimization function to meet a preset requirement so as to perform predictive control on the vehicle. According to the invention, the track following precision and stability of the autonomous vehicle are improved, and the control effect is improved.
Description
technical field [0001] The present invention relates to the field of computer technology, in particular to a method and device for predictive control optimization of automatic driving vehicles. Background technique [0002] The trajectory tracking controller of autonomous vehicles is divided into upper and lower controllers in the current mainstream applications. The main function of the upper controller is to process the reference trajectory and generate control instructions, and the main function of the lower controller is to execute the control instructions output by the upper controller. Drive the vehicle. At present, when the upper controller controls the vehicle, it mostly adopts the model predictive control MPC (Model Predictive Control) method, which can control the vehicle laterally and longitudinally at the same time. At present, the commonly used model predictive control methods are mostly control methods based on kinematics models. [0003] In the course of rea...
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IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 边学鹏张亮亮
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD