基于预瞄跟随理论MPC的无人驾驶车辆路径跟踪控制

Path Tracking Control of Unmanned Vehicle Based on Preview Following Theory MPC

摘要: 为提高无人驾驶车辆在变曲率条件下的路径跟踪精度和稳定性，提出一种基于预瞄跟随理论(PFT)的MPC横向控制器(PFT-MPC)。PTF-MPC包括参考路径点生成模块和MPC控制器模块。参考路径点生成模块通过PFT计算预瞄点的横摆角，为MPC控制器提供参考横摆角，在不增加MPC控制器计算量的同时提高预测范围。在双移线工况下，验证了PFT-MPC控制器的准确性和稳定性。

Abstract: In order to improve the path tracking accuracy and stability of unmanned vehicles under variable curvature conditions, an MPC lateral control controller (PFT-MPC) based on look-ahead following theory (PFT) was proposed. PTF-MPC includes a reference waypoint generation module and a MPC controller module. The reference path point generation module calculates the yaw angle of the pre-view point through PFT, provides the reference yaw angle for the MPC controller, and improves the prediction range without increasing the calculation amount of the MPC controller. The accuracy and stability of the PFT-MPC controller are verified under the condition of double-line shifting.