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基于改进MPC与RBF-PID的智能车轨迹跟踪控制

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为提升智能汽车轨迹跟踪控制的稳定性和精度,提出一种基于时域参数自适应MPC与RBF-PID的轨迹跟踪控制方法.首先搭建车辆横纵向动力学模型;其次分析控制时域与预测时域对跟踪精度的影响,设计时域参数自适应MPC横向控制器并进行仿真验证;然后基于径向基函数(RBF)神经网络整定PID控制参数,设计分层式纵向控制器,并设计折线速度曲线与PID算法进行对比;最后以车速为耦合点构建智能汽车横纵向综合控制系统,并在蛇形工况下对横纵向综合控制系统进行仿真实验.结果表明,所设计的横向控制器能保证低速时的跟踪精度和高速时的车辆稳定性,纵向控制器可有效提高速度跟踪精度,横纵向综合控制系统能实现车辆在变车速工况下对轨迹的精准跟踪,同时保证良好的行驶稳定性与舒适性.
Intelligent vehicle track tracking control based on improved MPC and RBF-PID
To improve the stability and accuracy of intelligent vehicle trajectory tracking control,a trajectory tracking control method based on time domain parameter adaptive model predictive control(MPC)and radial basis function(RBF)-proportion integration differentiation(PID)was proposed.Firstly,the transverse dynam-ics model and the longitudinal dynamics model were built.Secondly,the influence of control time domain and prediction time domain on tracking accuracy was analyzed.A time domain parameter adaptive MPC lateral con-troller was designed and simulation verification was conducted.Then,based on radial basis function(RBF)neural network tuning of PID control parameters,a layered longitudinal controller was designed,and a polyline speed curve was designed to compare with the PID algorithm.Finally,the transverse and longitudinal integrated control system of intelligent vehicle was constructed with vehicle speed as the coupling point,and the effective-ness of the integrated control system was verified by the simulation experiment under the serpentine working con-dition.The results show that the designed lateral controller can ensure tracking accuracy at low speeds and vehi-cle stability at high speeds,while the longitudinal controller can effectively improve speed tracking accuracy.The transverse and longitudinal integrated control system can achieve precise tracking of the vehicle's trajectory under variable speed conditions,while ensuring good driving stability and comfort.

time domain parameter adaptationmodel predictive control(MPC)radial basis function(RBF)-proportion integration differentiation(PID)transverse and longitudinal integrated controltrajectory tracking

李臣旭、江浩斌、洪阳珂

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江苏大学汽车与交通工程学院,镇江 212013

江苏大学汽车工程研究院,镇江 212013

时域参数自适应 MPC RBF-PID 横纵向综合控制 轨迹跟踪

国家自然科学基金资助项目江苏省高校自然科学研究资助项目

5167523516KJA58000

2024

10.3969/j.issn.1001-0505.2024.05.026

东南大学学报(自然科学版)
东南大学

东南大学学报(自然科学版)

CSTPCD北大核心
影响因子：0.989
ISSN：1001-0505
年,卷(期)：2024.54(5)