摘 要：为提高自动驾驶微客轨迹跟踪精度，对原纯追踪算法进行改进及验证；再根据模型预测控制理论，提出模型预测多点预瞄控制算法。实车验证表明，该算法能更进一步改善轨迹跟踪效果。
关键词：自动驾驶微客；多点预瞄控制； 轨迹跟踪；模型预测控制
中图分类号：U462.3+5 文献标志码：A 文章编号：1006-3331(2023)01-0001-05
Research on Control Algorithm about Multi-point Preview Trajectory Tracking for Automatic Driving Microbus Model Prediction
ZHANG Yong , PENG Zhichuan , WANG Wenming , ZHU Tian , ZHOU Yanhui
Abstract: To enhance the trajectory tracking accuracy of the automatic driving microbus , this paper im- proves and verifies the original pure tracking algorithm , then proposes the control algorithm of model predic- tive multi-point preview according to the model predictive control theory. The real vehicle verification shows that the algorithm can further improve the trajectory tracking effect.
Key words: automatic driving microbus ; multi-point preview control ; trajectory tracking ; model predictive control
