• 主题
  • 主题
  • 题名
  • 作者
  • 关键词
  • 摘要
  • 高级搜索  >
  • 外文期刊

  • 外文会议

  • 外文学位

  • 美国政府科技报告

  • 外军国防科技报告

  • 外文OA亿博帐号注册

  • 中文期刊

  • 中文会议

  • 中文学位

  • 美国卫生研究院亿博帐号注册

  • 中国专利

  • 外国专利

  • 您现在的位置:首页> 外文期刊>IEEE Transactions on Industrial Electronics >亿博帐号注册详情

    【6h】 Development of a Genetic-Algorithm-Based Nonlinear Model Predictive Control Scheme on Velocity and Steering of Autonomous Vehicles

    机译基于遗传算法的无人驾驶速度与转向非线性模型预测控制方案的开发

    【摘要】Model predictive controller (MPC) has demonstrated its competency in controlling autonomous vehicles. But to apply the current MPC-based schemes, it has to be formulated into certain formats and meet all prerequisites in order to fit the optimization solvers. To eliminate the gaps, in this paper, we propose a nonlinear MPC controller which controls the vehicle velocity and steering simultaneously. The optimization solver is based on genetic algorithms (GA). As compared to other solvers, using GA in the optimization enables a more flexible structure for MPC formulation. The cost function and constraints can be designed in a more accurate, meaningful, and direct way. Both simulation and on-field test results showed that the vehicle under the control of the proposed nonlinear MPC is able to follow the road center line accurately and consistently, even at sharp corners. Moreover, the results also showed that passengers' safety and comfort can be well taken care of under the proposed MPC scheme as both the vehicle movement acceleration and steering acceleration are well confined within a safety range. The promising results indicate that the proposed GA-based nonlinear MPC can be a suitable solution to autonomous vehicle control.

    【摘要机译】模型预测控制器(MPC)已证明其在控制自动驾驶汽车方面的能力。但是要应用当前基于MPC的方案,必须将其制定为某些格式并满足所有先决条件,以适合优化求解器。为了消除这种差距,在本文中,我们提出了一种非线性MPC控制器,该控制器同时控制车速和转向。优化求解器基于遗传算法(GA)。与其他求解器相比,在优化中使用GA可为MPC公式化提供更灵活的结构。可以更准确,有意义和直接的方式设计成本函数和约束。仿真和现场测试结果均表明,在所提出的非线性MPC的控制下,即使在急转弯处,车辆也能够准确,一致地遵循道路中心线。此外,结果还表明,在拟议的MPC方案下,可以很好地照顾乘客的安全和舒适性,因为车辆运动加速度和转向加速度都被很好地限制在安全范围内。有希望的结果表明,提出的基于GA的非线性MPC可能是自动驾驶汽车控制的合适解决方案。

    【原文格式】PDF

    机译 车辆;优化;遗传算法;计算模型;安全性;加速;无人驾驶汽车;
  • 相关亿博帐号注册
  • 购物车
  • 意见反馈
  • 回到顶部
  • 回到首页
  • 联系方式:18141920177 (微信同号) 客服邮箱:kefu@zhangqiaokeyan.com
  • 中文期刊 外文期刊
  • 京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-1 六维联合信息科技(北京)有限公司©版权所有
  • 客服微信
  • 服务号