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

表 2 专家对横向轨迹误差平方和与总计算时间的打分

Tab.2 Expert scores for sum of squared lateral trajectory errors and total computation time

序号 $ {Z_{{\text{Yet}}}} $ $ {Z_{{T_{\mathrm{t}}}}} $ 序号 $ {Z_{{\text{Yet}}}} $ $ {Z_{{T_{\mathrm{t}}}}} $ 1 3 5 11 3 4 2 5 4 12 5 3 3 5 3 13 4 5 4 3 4 14 5 3 5 5 3 15 4 5 6 4 5 16 5 3 7 3 5 17 5 4 8 5 4 18 3 5 9 5 3 19 5 4 10 4 5 20 3 5