179号资源-源程序：MPC在美国高速公路场景中移动的车辆上的实现----已提供下载资源

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于 2024-09-17 08:15:00 发布

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MPC在美国高速公路场景中移动的车辆上的实现

基于模型预测控制的车辆路径跟踪Vehicle Path Tracking Using Mode

This submission contains a model to show the implementation of MPC on a vehicle moving in a US Highway scene

实现MPC涉及几个关键步骤：首先是建立一个准确的车辆模型，考虑到高速行驶中的动态特性。然后，通过实时数据输入，如车辆速度、位置和环境信息，MPC算法可以预测未来的车辆行为，并生成优化的控制策略。这些控制策略包括加速、刹车和转向指令，以确保车辆在高速公路上保持正确的车道、适应交通变化并应对突发情况。在实际应用中，MPC需要处理高速公路上复杂的交通流、交通标志和车辆间的相互作用。通过实时计算和优化，MPC能够在动态环境中有效地调整车辆行为，提高行车安全性并提升驾驶体验。这种技术广泛应用于先进驾驶辅助系统（ADAS）和自动驾驶系统中，帮助实现更智能、更安全的道路交通管理。

部分代码展示：

% Model Initialization
% ADT MPC Controller for Figure Eight Course
% Copyright 2020 The MathWorks, Inc.

%% add Images to the path
addpath(genpath('Images'));

%% define reference points
r = 75; % radius of circle
theta = 0:0.01:2*pi;
x1 = -r*cos(theta); % We wanted to create a skidpad track, hence we have used circle equations. 
%Alternatively, you can also use figure eight equation to generate the reference points.
y1 = r*sin(theta);
x2 = -2*r+r*cos(theta);
y2 = r*sin(theta);
xEight = [x1 x1 x2 x2];
yEight = [y1 y1 y2 y2];
% plot(xEight,yEight)
xRef = yEight;
yRef = xEight;

%% define vehicle parameters used in the models
L = 3; % bicycle length
ld = 4; % lookahead distance
X_o = xRef(1); % initial vehicle position
Y_o = yRef(1); % initial vehicle position 
psi_o = 0; % it's an important step to initialize yaw angle

%% calculating reference pose vectors for figure eight course

% Based on how far the vehicle travels, the pose is generated using 1-D
% lookup tables.

% calculate distance vector
rr = [yEight;xEight;xEight*0]';
distancematrix = squareform(pdist(rr));
distancesteps = zeros(length(rr)-1,1);
for i = 2:length(rr)
    distancesteps(i-1,1) = distancematrix(i,i-1);
end
totalDistance = sum(distancesteps); % Total traveled distance
distbp = cumsum([0; distancesteps]); % Distance for each waypoint
gradbp = linspace(0,totalDistance,2500); % Linearize distance

% linearize X and Y vectors based on distance
xRef2 = interp1(distbp,xRef,gradbp,'pchip');
yRef2 = interp1(distbp,yRef,gradbp,'pchip');
yRef2s = smooth(gradbp,yRef2);
xRef2s = smooth(gradbp,xRef2);

% calculate curvature vector
curvature = getCurvature(xRef2,yRef2);

效果展示：