基于轨迹优化的自动驾驶汽车跟随自行车模型动力学控制（Matlab代码实现）

    目录

1 概述

2 运行结果

3 参考文献

‍4 Matlab代码

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1 概述

本次使用轨迹优化技术来控制汽车。假设汽车遵循自行车模型的动力学。为了实现稳定和安全的跟踪，我们使用了离散时间模型预测控制。
一个离散的比例控制器（基于定义为偏离赛道中心线的函数的误差）用于生成我们的赛车将遵循的近似轨迹。

复制或下载此存储库后，在系统上打开MATLAB并运行main.m。

2 运行结果

 

 

 

3 参考文献

[1]李晓芳,何俊.智能自动驾驶汽车的轨迹优化[J].价值工程,2017,36(21):129-130.DOI:10.14018/j.cnki.cn13-1085/n.2017.21.055.

‍4 Matlab代码

主函数部分代码：

clear 
close all
clc

trackDataFileName = 'TestTrack';

%% Proportional Control

initialState = [287,5,-176,0,2,0];
initialTrajectoryFileName = initialTrajectoryGenerator(trackDataFileName,initialState);
disp('Initial Trajectory Generated');

%% MPC

% differentInitialState = initialState;         % to keep the same initial state
differentInitialState = [284,5,-180,0,2,0];     % to provide a different initial state
finalTrajectoryFileName = discreteMPC(initialTrajectoryFileName,differentInitialState);
disp('MPC Trajectory Generated');

%% Plots

load(trackDataFileName);
leftLine = TestTrack.bl;
rightLine = TestTrack.br;

load(initialTrajectoryFileName);
initialTraj_X = InitialTraj.states(:,1);
initialTraj_Y = InitialTraj.states(:,3);

load(finalTrajectoryFileName);
finalTraj_X = FinalTraj.states(:,1);
finalTraj_Y = FinalTraj.states(:,3);

figure(1)
title('Initial Trajectory - Using Proportional Controller')
hold on
plot(initialTraj_X, initialTraj_Y, 'r','LineWidth',2);
plot(leftLine(1,:), leftLine(2,:), 'k','LineWidth',1);
plot(rightLine(1,:),rightLine(2,:),'k','LineWidth',1);
legend('Trajectory','Left Border','Right Border','Location','NorthWest')
hold off

figure(2)
title('Final Trajectory - Using MPC Controller')
hold on
plot(finalTraj_X,   finalTraj_Y,   'r','LineWidth',2);
plot(leftLine(1,:), leftLine(2,:), 'k','LineWidth',1);
plot(rightLine(1,:),rightLine(2,:),'k','LineWidth',1);
legend('Trajectory','Left Border','Right Border','Location','NorthWest')
hold off

figure(3)
title('Comparing initial part of track')
subplot(2,1,1);
hold on
plot(initialTraj_X, initialTraj_Y, 'r','LineWidth',2);
plot(leftLine(1,:), leftLine(2,:), 'k','LineWidth',1);
plot(rightLine(1,:),rightLine(2,:),'k','LineWidth',1);
legend('Trajectory','Left Border','Right Border','Location','NorthWest')
hold off
subplot(2,1,2);
hold on
plot(finalTraj_X,   finalTraj_Y,   'r','LineWidth',2);
plot(leftLine(1,:), leftLine(2,:), 'k','LineWidth',1);
plot(rightLine(1,:),rightLine(2,:),'k','LineWidth',1);
legend('Trajectory','Left Border','Right Border','Location','NorthWest')
hold off