来源:小罗老师以及论文Path tracking control of 4-wheel-steering autonomous ground vehicles based on linear parameter-varying system with experimental verification
根据横向位移,车速规划单移线换道轨迹,采用MPC进行轨迹跟踪。carsim设置车速快增到输入值,60km/h是限值。
前轮转向结果图:
四轮转向结果图:
来源:小罗老师以及论文Path tracking control of 4-wheel-steering autonomous ground vehicles based on linear parameter-varying system with experimental verification
根据横向位移,车速规划单移线换道轨迹,采用MPC进行轨迹跟踪。carsim设置车速快增到输入值,60km/h是限值。
前轮转向结果图:
四轮转向结果图: