同济大学学报（自然科学版）2024，Vol.52Issue(z1)：158-164,7.DOI:10.11908/j.issn.0253-374x.24723
基于自适应路径预览的非线性模型预测控制路径跟踪
Path-Following Based on Nonlinear Model Predictive Control with Adaptive Path Preview
摘要
Abstract
This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle's coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.关键词
路径跟踪/曲线坐标/非线性模型预测控制Key words
path following/curvilinear coordinates/nonlinear model predictive control分类
交通工程引用本文复制引用
李俊霆,陳志鏗..基于自适应路径预览的非线性模型预测控制路径跟踪[J].同济大学学报（自然科学版）,2024,52(z1):158-164,7.基金项目
"National Science and Technology Council"(NSTC 111-2221-E-027-088) （NSTC 111-2221-E-027-088）
