Research on Path Tracking for Autonomous Vehicle Based on MPC with Adoptive Variable Step Weight
作者单位：School of Automotive EngineeringChang'an University
会议名称：《2023中国汽车工程学会年会暨展览会》
会议日期：2023年
学科分类：08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程]
摘 要：The weighting factor in cost function for different predictive step is the same in conventional model predictive control(MPC) for autonomous *** means the importance of predictive results is the same whatever the distances from the vehicle,which is not in accord with the real *** order to improve path tracking for autonomous vehicle,the effects of weighing factor changing with predictive steps on the accuracy and stability are *** MPC controller which changes weighing factors with predictive steps according to vehicle speed and path curvature adaptively is *** results show the proposed controller can improve path tracking accuracy at low and medium speed and stability at high speed and large path curvature.