考虑主客观因素的自动驾驶模型预测控制参数优化

常天根,田国富,唐媛媛,曹明学

Model predictive control parameter optimization in autonomous driving considering both subjective and objective factors

Tiangen CHANG,Guofu TIAN,Yuanyuan TANG,Mingxue CAO

图 2 三自由度车辆动力学模型

Fig.2 Three-degree-of-freedom vehicle dynamics model