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论文与完整源程序_电网论文源程序的博客-CSDN博客https://blog.csdn.net/liang674027206/category_12531414.html
将卡尔曼滤波器与MPC结合,旨在提高汽车控制系统的精度和鲁棒性。卡尔曼滤波器在此提供准确的车辆状态估计,补偿传感器噪声和不确定性,使得MPC能够在更精确的状态信息基础上进行决策。MPC则利用这些状态估计来预测车辆的未来行为,并优化控制输入,以实现预定的行驶目标,如轨迹跟踪、速度控制或避障。
这种集成方法特别适用于需要高精度和动态响应的汽车控制应用,例如自动驾驶系统和高级驾驶辅助系统(ADAS)。通过结合卡尔曼滤波器的状态估计能力和MPC的优化控制策略,系统能够更有效地处理复杂的驾驶环境,提高车辆的操控性、安全性和行驶舒适度。
部分代码展示:
import numpy as np
from sim.sim1d import sim_run
# Simulator options.
options = {}
options['FIG_SIZE'] = [8,8]
options['CONSTANT_SPEED'] = True
class KalmanFilter:
def __init__(self):
self.v = 0
self.prev_time = 0
# Initial State # state = [x x_dot]
self.x = np.matrix([[0.],
[0.]])
# Uncertainity Matrix
self.P = np.matrix([[1000, 0],
[0., 1000]])
# Next State Function
self.F = np.matrix([[1., 1000.],
[0., 1.]])
# Measurement Function
self.H = np.matrix([[1., 0.]])
# Measurement Uncertainty
self.R = np.matrix([[0.01]])
# Identity Matrix
self.I = np.matrix([[1., 0.],
[0., 1.]])
def predict(self, t):
# Calculate dt.
dt = t - self.prev_time
# Put dt into the state transition matrix
self.F[0,1] = dt # x = x_prev + x_dot*dt
# state = F*prev_state
self.x = self.F*self.x
#uncertainty matrix # P = F*P*F^T
self.P = self.F*self.P*np.transpose(self.F)
print(self.P, '\n')
return self.x[0,0]
def measure_and_update(self,measurements,t):
dt = t - self.prev_time #calculate dt
#transition update
self.F[0,1] = dt
#measurement update
Z = np.matrix(measurements)
y = np.transpose(Z) - self.H*self.x #error {measure | estimated_state}
S = self.H*self.P*np.transpose(self.H) + self.R #measurement uncertainty accumulation
K = self.P*np.transpose(self.H)*np.linalg.inv(S) #disturbance estimation
#update state
self.x = self.x + K*y #update state
self.P = (self.I - K*self.H)*self.P #update uncertainty
#add noise to uncertainty to do not overfit Kalman filter confidence
self.P[0, 0] += 0.1
self.P[1, 1] += 0.1
self.v = self.x[1,0] #get x_dot from state matrix
self.prev_time = t #important, update previous time
return
sim_run(options,KalmanFilter)
效果展示:
174号资源-源程序:卡尔曼滤波器的MPC汽车控制器(python)-本人博客有解读资源-CSDN文库https://download.csdn.net/download/LIANG674027206/89700637👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆下载资源链接👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆👆
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论文与完整源程序_电网论文源程序的博客-CSDN博客https://blog.csdn.net/liang674027206/category_12531414.html