Automatic driving vehicle control method and device based on MPC control

• Main Authors: DONG HAITAO, HU QIANYANG, YAN LIANG, FU YONGZHUO
• Format: Patent
• Language: Chinese; English
• Published: 01.09.2023
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention belongs to the technical field of automatic driving and automatic control, and particularly relates to an automatic driving vehicle control method and device based on MPC control. According to different working conditions, a steering wheel angle change rate constraint is calculated in a real-time and self-adaptive manner, and then according to a dynamic error model, a target function is solved under the condition that a state, a control quantity and a control quantity change rate constraint condition are met to obtain a control sequence in a control time domain; the transverse comfort is improved while the requirements of different working conditions for the change rate of the control quantity are met; in addition, when automatic driving is just started, the actual steering wheel rotation angle is smoothed to the target steering wheel rotation angle, the vehicle is controlled to run slowly in the smoothing process, tires are prevented from being abraded in the in-situ returning period of the ste