| 基于无人驾驶车辆轨迹跟踪控制的模型预测 |
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| 引用本文：游志锐，刘俊辉，吴海涛，王家乐，王建宏.基于无人驾驶车辆轨迹跟踪控制的模型预测[J].计算技术与自动化,2026,(1):58-64 |
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| 中文摘要:针对无人驾驶车辆轨迹跟踪问题，设计了一种改进的模型预测控制（MPC）控制方法。在路径跟踪方面，结合车辆横摆动力学模型，并根据路面附着系数以及行驶车速调节预测时域。在安全性方面，根据道路曲率系数动态调节车速并设计了车速调节控制器，基于MPC控制与最大安全车速设计车辆行驶速度，再由PI控制器作用于车辆，从而实现在行驶过程中动态调节参数，保证车辆各项性能。Simulink/CarSim联合仿真表明使用该控制器，能够提高车辆在轨迹跟踪过程中不同路面附着系数工况下的跟踪性能和稳定性。 |
| 中文关键词:轨迹跟踪 模型预测控制 模糊控制 车速调节 |
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| Model Predictive Control Based Trajectory Tracking Control For Autonomous Vehicles |
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| Abstract:An improved Model Predictive Control (MPC) control method was designed for the trajectory tracking problem of autonomous vehicles. In terms of path tracking, combining the vehicle's yaw dynamics model and adjusting the prediction time domain based on road adhesion coefficient and driving speed. In terms of safety, the vehicle speed is dynamically adjusted based on the road curvature coefficient and a speed adjustment controller is designed. The vehicle driving speed is designed based on MPC control and maximum safe speed, and then the PI controller acts on the vehicle to dynamically adjust parameters during driving, ensuring various vehicle performance. Simulink/CarSim joint simulation shows that using this controller can improve the tracking performance and stability of vehicles under different road adhesion coefficient conditions during trajectory tracking. |
| keywords:trajectory tracking model predictive control fuzzy control vehicle speed adjustment |
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