💥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
