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基于改变控制时域时间步长的智能车轨迹跟踪控制

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为了解决模型预测控制设计智能车轨迹跟踪控制器存在求解计算时间长、在线实时性低的问题,借助于矩阵分块化策略,提出了一种基于控制时域变步长的模型预测轨迹跟踪控制方法.通过矩阵分块化改变控制时域步长,并融入到二次规划的求解过程中,重构目标函数形式和系统约束条件,以减少求解过程中最优控制序列中待求解变量的数量,降低求解计算时间.在Simulink与Carsim联合仿真平台中,将本文方法与传统模型预测控制方法进行仿真对比分析.结果表明,相比于传统模型预测控制方法,本文方法在保证轨迹跟踪精度的前提下,平均求解计算时间降低了24.39%,最大单次计算时间降低了45.05%,采用"前密后疏"的分块矩阵,其控制器性能优于"平均化"的分块矩阵.
Intelligent vehicle trajectory tracking control based on adjusting step size of control horizon
In order to solve the intelligent vehicle trajectory tracking controller based on model predictive control with long processing time and low real-time performance,a model predictive trajectory tracking control method based on variable step size in the control time domain was proposed using matrix-blocking strategy.The matrix-blocking method was used to change the control time domain step size and integrated into the quadratic programming solution process of model predictive control,and the objective function and system constraints were reconstructed to reduce the number of variables to be solved in the optimal control sequence during the solution process,and the calculation time are also be reduced.Based on Simulink and CarSim co-simulation platform,the proposed method was compared with the traditional model predictive control method.The results demonstrate that compared with the traditional model predictive control method,the proposed method not only reduces the average calculation time by 24.39%and the maximum single calculation time by 45.05%,but also ensuring the trajectory tracking accuracy.The performance of the controller using the dense before sparse block matrix is better than the average block matrix.

vehicle engineeringintelligent vehicleadjusting the step size of control horizonmodel predictive controltrajectory trackingmatrix blocking

谢宪毅、王禹涵、金立生、赵鑫、郭柏苍、廖亚萍、周彬、李克强

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燕山大学 车辆与能源学院,河北 秦皇岛 066004

清华大学 汽车安全与节能国家重点实验室,北京 100084

中国第一汽车集团公司 智能网联开发院,长春 130011

北京航空航天大学 特种车辆无人运输技术工业和信息化部重点实验室,北京 100191

北京航空航天大学 车路一体智能交通全国重点实验室,北京 100191

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车辆工程 智能车辆 控制时域变步长 模型预测 轨迹跟踪 矩阵分块化

国家自然科学基金项目汽车安全与节能国家重点实验室开放基金项目河北省省级科技计划项目河北省省级科技计划项目

52072333KFY2211F2021203107F2022203054

2024

10.13229/j.cnki.jdxbgxb.20220542

吉林大学学报(工学版)
吉林大学

吉林大学学报(工学版)

CSTPCD北大核心
影响因子：0.792
ISSN：1671-5497
年,卷(期)：2024.54(3)
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