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基于自适应ＭＰＣ的无人驾驶车辆轨迹跟踪控制.

Authors :: 梁忠超
 张　欢
 赵　晶
 王永富
Source :: Journal of Northeastern University (Natural Science). Jun2020, Vol. 41 Issue 6, p835-840. 6p.
Publication Year :: 2020
Abstract: ＡｃｃｏｒｄｉｎｇｔｏｔｈｅｐｒｉｎｃｉｐｌｅｏｆａｄａｐｔｉｖｅＭＰＣ(ｍｏｄｅｌｐｒｅｄｉｃｔｉｖｅｃｏｎｔｒｏｌ)ꎬ ａｔｒａｊｅｃｔｏｒｙｔｒａｃｋｉｎｇｃｏｎｔｒｏｌｓｔｒａｔｅｇｙｆｏｒｕｎｍａｎｎｅｄｖｅｈｉｃｌｅｓｉｓｄｅｓｉｇｎｅｄ. Ｂａｓｅｄｏｎｔｈｅｖｅｈｉｃｌｅｄｙｎａｍｉｃｓｍｏｄｅｌꎬ ｔｈｅｔｒａｊｅｃｔｏｒｙｔｒａｃｋｉｎｇｃｏｎｔｒｏｌｌｅｒｉｓｅｓｔａｂｌｉｓｈｅｄꎬ ａｎｄｔｈｅｏｂｊｅｃｔｉｖｅｆｕｎｃｔｉｏｎａｎｄｒｅｌａｔｅｄｃｏｎｓｔｒａｉｎｔｓａｒｅｄｅｓｉｇｎｅｄ. ＴｈｅａｄａｐｔｉｖｅＭＰＣｃｏｎｔｒｏｌａｌｇｏｒｉｔｈｍｉｓｕｓｅｄｆｏｒｓｏｌｕｔｉｏｎ. Ａｔｅａｃｈｃｏｎｔｒｏｌｐｏｉｎｔｏｆｏｐｅｒａｔｉｏｎꎬ ｔｈｅＫａｌｍａｎｓｔａｔｅｅｓｔｉｍａｔｏｒｃｏｒｒｅｌａｔｉｏｎｇａｉｎｃｏｅｆｆｉｃｉｅｎｔｍａｔｒｉｘａｎｄｔｈｅｓｔａｔｅｏｆｔｈｅｃｏｎｔｒｏｌｌｅｒａｒｅｃｏｎｔｉｎｕｏｕｓｌｙｕｐｄａｔｅｄｔｏａｄａｐｔｔｏｔｈｅｃｕｒｒｅｎｔｗｏｒｋｉｎｇｅｎｖｉｒｏｎｍｅｎｔｏｆｔｈｅｕｎｍａｎｎｅｄｖｅｈｉｃｌｅꎬ ｔｈｅｒｅｂｙｃｏｍｐｅｎｓａｔｉｎｇｆｏｒｔｈｅｎｏｎｌｉｎｅａｒｉｔｙｏｆｔｈｅｖｅｈｉｃｌｅａｎｄｔｈｅｅｆｆｅｃｔｏｆｓｔａｔｅｍｅａｓｕｒｅｍｅｎｔｎｏｉｓｅ. ＴｈｅｓｉｍｕｌａｔｉｏｎｍｏｄｅｌｉｓｂｕｉｌｔｉｎＭＡＴＬＡＢａｎｄｖｅｒｉｆｉｅｄｂｙｓｉｍｕｌａｔｉｏｎ. ＩｔｉｓｃｏｎｃｌｕｄｅｄｔｈａｔｔｈｅａｄａｐｔｉｖｅＭＰＣｈａｓｂｅｔｔｅｒｃｏｎｔｒｏｌｐｒｅｃｉｓｉｏｎａｎｄｒｏｂｕｓｔｎｅｓｓｆｏｒｔｈｅｔｒａｊｅｃｔｏｒｙｔｒａｃｋｉｎｇｏｆｕｎｍａｎｎｅｄｖｅｈｉｃｌｅｓ. Ｔｈｅｅｆｆｅｃｔｉｖｅｎｅｓｓｏｆｔｈｅａｌｇｏｒｉｔｈｍｉｎｔｈｅｔｒａｊｅｃｔｏｒｙｔｒａｃｋｉｎｇｃｏｎｔｒｏｌｌａｙｅｒｉｓｖｅｒｉｆｉｅｄ. Ｉｎａｄｄｉｔｉｏｎꎬ ｉｔｐｒｏｖｉｄｅｓａｒｅｆｅｒｅｎｃｅｆｏｒｔｈｅｒｅｓｅａｒｃｈｏｆｆｕｔｕｒｅｔｒａｊｅｃｔｏｒｙｔｒａｃｋｉｎｇｃｏｎｔｒｏｌ. [ABSTRACT FROM AUTHOR]