自适应双时域参数MPC的智能车辆路径规划与跟踪控制

doi:10.3969/j.issn.1674-8484.2021.04.012

摘要/Abstract

摘要：

为解决过度避障,基于车辆点质量模型,采用非线性模型预测控制（MPC）算法,设计了新型避障功能函数,建立自动驾驶车辆路径跟踪性能综合评价指标,得到最优预测时域和控制时域参数,设计自适应双时域MPC参数路径跟踪控制器。搭建规划层和控制层集成的联合仿真平台,进行仿真试验。结果表明：在180个障碍物点下,避障功能函数可避免过度避障,且计算时间仅增加0.294 ms。采用局部避障路径规划与路径跟踪控制集成结构时,在多静态障碍物场景与动态障碍物场景下,车速为65 km/h时,最大横向误差偏差减小0.169 m,最大横摆角速度减小3.196 (°)/s。

关键词: 自动驾驶车辆, 模型预测控制（MPC）, 避障, 局部路径规划, 路径跟踪控制器

Abstract:

This paper designed a novel obstacle avoidance function by using the nonlinear model predictive control (MPC) algorithm to solve the problem of excessive obstacle avoidance. Established a series of comprehensive evaluation index of vehicle path tracking performance, obtained the optimal prediction time domain and the control time domain parameters, and designed the adaptive dual time domain MPC parameters path tracking controller. A joint simulation platform integrating the planning layer and the control layer was built for simulation. The results show that under the condition of 180 obstacle points, the obstacle avoidance function can avoid excessive obstacle avoidance, and the calculation time only increases by 0.294 ms; The maximum lateral error deviation is reduced by 0.169 m with the maximum yaw rate being reduced by 3.196 (°)/s when adopting the integrated structure of local obstacle avoidance path planning and path tracking control, in multiple static obstacle scenes and dynamic obstacle scenes, at the vehicle speed of 65 km/h.

Key words: autonomous vehicles, model predictive control (MPC), obstacle avoidance, local path planning, path tracking controller

中图分类号:

U461.91

李耀华, 范吉康, 刘洋, 何杰, 李泽田, 潘绍飞. 自适应双时域参数MPC的智能车辆路径规划与跟踪控制[J]. 汽车安全与节能学报, 2021, 12(4): 528-539.

LI Yaohua, FAN Jikang, LIU Yang, HE Jie, LI Zetian, PAN Shaofei. Path planning and path tracking control for autonomous vehicle based on MPC with adaptive dual-horizon-parameters[J]. Journal of Automotive Safety and Energy, 2021, 12(4): 528-539.

图/表 23

参考文献 21

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整车质量,m	1.723 t
长×宽,L×B	4.893 m × 1.862 m
前轴到质心距离,a	1.232 m
后轴到质心距离,b	1.468 m
前轮侧偏刚度,C_f	66.9 kN·rad^-1
前轮侧偏刚度,C_r	62.7 kN·rad^-1
绕z轴转动惯量,I_z	3 234 t·m²

整车质量,m	1.723 t
长×宽,L×B	4.893 m × 1.862 m
前轴到质心距离,a	1.232 m
后轴到质心距离,b	1.468 m
前轮侧偏刚度,C_f	66.9 kN·rad^-1
前轮侧偏刚度,C_r	62.7 kN·rad^-1
绕z轴转动惯量,I_z	3 234 t·m²

采样周期,T_c	20 ms
权重矩阵,Q	diag[2 000, 10 000]
权重矩阵,R	[5×10⁵]
权重因子,ρ	1 000
控制量约束	[-10°, 10°]
控制增量约束	[-0.85°, 0.85°]

采样周期,T_c	20 ms
权重矩阵,Q	diag[2 000, 10 000]
权重矩阵,R	[5×10⁵]
权重因子,ρ	1 000
控制量约束	[-10°, 10°]
控制增量约束	[-0.85°, 0.85°]

v / (km﹒h^-1)	N_p	N_c	E_dmax/mm	E_dm/mm	E_φ_m/(°)	β_max/(°)	ω_max/ [(°)﹒s^-1)]
30	17	1	72	17	0.761	1.380	13.181
30	19	16	67	17	0.746	1.349	10.870
50	22	4	108	30	0.546	0.497	18.890
70	33	2	215	55	0.541	1.337	19.190
70	40	1	645	125	1.210	0.633	13.602