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 7 双移线工况下的跟踪轨迹和横向轨迹误差

Fig.7 Tracking trajectories and lateral trajectory errors under double lane change condition