对于采用MPC进行纵向轨迹跟踪,问题构建有多种形式,可以对控制量进行优化、也可以对状态量构建优化问题。具体可参考文章末尾的公众号内容。 本文基于运动学,构建纵向轨迹跟踪控制。构建方式可以分为两种; 将s、v作为状态量,控制量为a,在MPC控制器外加上规划轨迹的加速度作为前馈。 将s、v、a作为状态量,控制量为jerk...
In order to track the desired path as fast as possible, a novel autonomous vehicle path tracking based on model predictive control (MPC) and PID speed control was proposed for high-speed automated vehicles considering the constraints of vehicle physical limits, in which a forward-backward integrati...