A Model Predictive Control Algorithm for Path Tracking Based on Multi-Point Preview Dynamics and Safety Guaranteed Constraint

IF 7.1 2区计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC IEEE Transactions on Vehicular Technology Pub Date : 2024-09-17 DOI:10.1109/TVT.2024.3462508

Qian Wang;Qitong Chen;CongZhi Liu;Liang Li

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Abstract

This paper presents an innovative path tracking method of model predictive control based on multi-point preview (MPP-MPC) that the original equation of state is augmented by considering a dynamics model of the multiple preview points. The path tracking issue is formulated as an optimal control problem with dynamic disturbance, i.e., the future road curvature. Hence, an ameliorative Kalman filter is adopted to fuse the information about camera and vehicle dynamics to accurately estimate the road curvature. To ensure lateral control performance, dynamic constraints are defined by the estimated road curvature to guarantee comfort and safety. In the control domain of model predictive control (MPC), the model can be approximated as a linear time-invariant model (LTIM) to reduce the computational complexity. The MPC problem can be transformed into a standard quadratic programming (QP) problem with dynamic constraints of guaranteed comfort and safety. Finally, the complex path tracking problem can be solved by the QP problem. Through lane keeping experiments, it is shown that the tracking accuracy and steering smoothness can be significantly improved by the proposed method.

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基于多点预览动态和安全保证约束的路径跟踪模型预测控制算法

本文提出了一种新颖的基于多点预览的路径跟踪方法，该方法通过考虑多点预览点的动力学模型来扩充原始状态方程。路径跟踪问题被表述为具有动态扰动（即未来道路曲率）的最优控制问题。为此，采用改进的卡尔曼滤波融合摄像机和车辆动态信息，以准确估计道路曲率。为了保证横向控制性能，动态约束由估计的道路曲率定义，以保证舒适性和安全性。在模型预测控制（MPC）的控制域中，可以将模型近似为线性时不变模型（LTIM）来降低计算复杂度。MPC问题可以转化为具有保证舒适性和安全性的动态约束的标准二次规划问题。最后，利用QP问题求解复杂路径跟踪问题。车道保持实验表明，该方法能显著提高车辆的跟踪精度和转向平稳性。

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来源期刊

IEEE Transactions on Vehicular Technology 工程技术-电信学

CiteScore

6.00

自引率

8.80%

发文量

1245

审稿时长

6.3 months

期刊介绍： The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.