考虑主客观因素的自动驾驶模型预测控制参数优化
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常天根,田国富,唐媛媛,曹明学
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Model predictive control parameter optimization in autonomous driving considering both subjective and objective factors
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Tiangen CHANG,Guofu TIAN,Yuanyuan TANG,Mingxue CAO
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| 表 3 双移线工况下跟踪精度和计算时间统计 |
| Tab.3 Statistics of tracking accuracy and computation time under double lane change condition |
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| $ {v_x} $/(m·s−1) | 方法 | Yet/mm2 | Tt/s | ts/ms | ∆Yet/% | ∆Tt/% | | 10 | MPC | 1 658.965 1 | 3.302 1 | 5.485 2 | — | — | | FIS-MPC | 1 313.173 7 | 2.640 8 | 4.386 8 | 20.84 | 20.03 | | PSO-MPC | 1 076.707 7 | 3.168 3 | 5.263 0 | 35.10 | 4.05 | | SWSLN-MPC | 1 145.736 5 | 2.816 5 | 4.678 6 | 30.94 | 14.71 | | OWSLN-MPC | 1 136.686 3 | 2.803 4 | 4.656 9 | 31.48 | 15.10 | | SOWSLN-MPC | 1 136.924 6 | 2.446 9 | 4.064 7 | 31.47 | 25.90 | | 15 | MPC | 2 223.386 0 | 3.197 0 | 5.310 7 | — | — | | FIS-MPC | 1 505.635 5 | 2.628 4 | 4.366 2 | 32.28 | 17.79 | | PSO-MPC | 847.031 6 | 3.473 5 | 5.769 9 | 61.90 | −8.65 | | SWSLN-MPC | 1 032.351 5 | 2.802 5 | 4.655 3 | 53.57 | 12.34 | | OWSLN-MPC | 1 023.662 8 | 2.999 0 | 4.981 8 | 53.96 | 6.19 | | SOWSLN-MPC | 737.434 7 | 2.520 1 | 4.186 3 | 66.83 | 21.17 | | 17 | MPC | 2 656.029 8 | 3.059 6 | 5.082 4 | — | — | | FIS-MPC | 1 684.968 1 | 2.728 9 | 4.533 0 | 36.56 | 10.81 | | PSO-MPC | 969.590 1 | 3.050 1 | 5.066 5 | 63.49 | 0.31 | | SWSLN-MPC | 1 203.585 6 | 2.785 8 | 4.627 6 | 54.68 | 8.95 | | OWSLN-MPC | 1 194.374 9 | 2.761 1 | 4.586 5 | 55.03 | 9.76 | | SOWSLN-MPC | 782.955 3 | 2.522 2 | 4.189 7 | 70.52 | 17.56 |
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