一种基于预转向NMPC的路径跟踪控制系统及方法
By combining pre-steering control and NMPC algorithm, and using sensors such as LiDAR to construct scene point cloud maps, the ideal turning angle and optimal turning angle are calculated, which solves the accuracy and stability problems of existing path tracking control algorithms in curve scenarios and achieves more efficient path tracking control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- WUHAN UNIV
- Filing Date
- 2023-10-26
- Publication Date
- 2026-07-17
AI Technical Summary
Existing path tracking control algorithms have low vehicle tracking accuracy in high-speed or high-curvature scenarios, slow solution speed of nonlinear model predictive controllers, and poor vehicle tracking performance in curve scenarios due to steering hysteresis.
By combining the pre-steering control algorithm and the nonlinear model predictive controller (NMPC), a scene point cloud map is constructed using lidar, IMU sensors, speed sensors, and steering angle sensors. The ideal steering angle and the optimal steering angle are calculated, and the vehicle control sequence is optimized using a sequential quadratic programming algorithm to achieve accurate path tracking.
It improves vehicle path tracking accuracy and stability in curve scenarios, solves the hysteresis problem of steering actuator, and provides higher tracking system stability and accuracy.
Smart Images
Figure CN117369266B_ABST