Research on smoothing reference lines by quadratic programming algorithm
The problem of the road center reference line of the cubic polynomial fit being affected by the longitudinal deceleration line was studied.Firstly,a quadratic programming algorithm was constructed to verify the smoothing effect of the curve,and then the quadratic programming algorithm was used in Simulink to smooth the problem data of the reference line jitter caused by the longitudinal deceleration line during the cruise control of the vehicle.The results showed that compared with the dynamic MPC control without algorithm smoothing,the peak value of the lateral deviation of the vehicle smoothed by the quadratic planning algorithm was only 50%of the previous data,and the peak value of the front wheel angle was only 30%of the previous data.Therefore,the vehicle lateral deviation and the rotation range of the front wheel angle controlled by the vehicle dynamics MPC after adding the smoothing algorithm were smaller,which could effectively smooth out the sudden impact of the deceleration marking,reduce the lateral deviation of the vehicle and the front wheel angle,and make the vehicle run more smoothly.
quadratic programminglongitudinal deceleration linedynamic MPCcruise control
NETL
NSTL
万方数据
维普
