安徽工程大学学报2025，Vol.40Issue(1)：22-30,9.
基于曲率自适应LTV-MPC的轨迹跟踪控制研究
Trajectory Tracking Control Method Based on Curvature-adaptive LTV-MPC
摘要
Abstract
To solve the problems of trajectory tracking accuracy degradation and driving stability of autonomous driving vehicle when the trajectory tracking curvature changes,this paper designs a road curvature-adaptive linear time-varying model predictive controller(LTV-MPC)trajectory tracking controller based on the dynamic three-degree-of-freedom model of the vehicle.By building Matlab/Simulink and Carsim co-simulation platform for experiments,the paper first analyzes and compares the LTV-MPC in the different Q and R weight matrix coefficients under the tracking accuracy of the change rule,and then fits them with the road curvature changes in the weight coefficient function.Finally,after the simulation experiment comparison and analysis,the curvature-adaptive LTV-MPC trajectory tracking controller,compared with LTV-MPC trajectory tracking controller,the lateral tracking error is reduced by 30%in average,the maximum sideslip angle is reduced by 2.9%.Thus,the trajectory tracking accuracy and vehicle driving stability are improved.关键词
自动驾驶/轨迹跟踪/模型预测控制/曲率自适应控制器Key words
autonomous driving/trajectory tracking/model-predictive control/curvature-adaptive controller分类
交通运输引用本文复制引用
臧豫徽,杨爱喜,李兰友..基于曲率自适应LTV-MPC的轨迹跟踪控制研究[J].安徽工程大学学报,2025,40(1):22-30,9.基金项目
浙江省科技计划项目(2022C04023) （2022C04023）
