Research On Path Planning And Tracking Control Of FSAC Racing Car

Since 2020,China has stepped into a critical period for the 14 th Five-Year Plan,a key plan for building strong China.There is a long way to go for building up strong automobile country,and there are many ‘being hit in the throat’ problems need to be urgently solved during the development of the automobile industry.Autonomous driving technology is one of the difficulties,so research on related technologies conforms to the law of development of the times.This paper designs path planning and path tracking control algorithms for FSAC racing car.It aims to meet the performance and real-time requirements of local path planning and trajectory tracking,and to improve the result raking of our school in the competition.The main work of the article includes:(1)Through in-depth discussion of the rules of FSAC dynamic test,we extracted the main points of the competition.After the analysis of the systematic components of FSAC racing car,we determined the parameters and performance indexes of the FSAC racing car.(2)In order to improve the rationality of path planning,we designed a novel local path planning algorithm based on state lattice.Taking saving online computational resources as the starting point,the local planning algorithm was implemented from offline and online part.Then Python-based software verification was done.(3)Based on reasonable assumptions,the bicycle vehicle model and the Magic Formula tire model were formulated.The constraints and cost function were designed in combination with actual requirements,finally the design of the path tracking controller based on MPC was completed.Based on the Matlab program,we compared several commonly used tracking controllers,and the performance of the proposed tracking controller was simply verified.(4)We also developed a simulation platform,to verify the combined performance of the designed FSAC path planning and tracking control algorithm,with a novel attitude.Taking the FSAC path planning and tracking control algorithm as the research object,this dissertation innovatively built a simulation platform based on the Op En software framework.Using the control variable method,we studied the effects of the prediction horizon and tracking error weight on the solve time and tracking performance.Under good parameter configuration,the solution time can be effectively controlled within the range of 25 ms,while ensuring a short tracking distance.The simulation result showed that the designed path planning and tracking control system can meet the reasonable requirement of FSAC path planning and the real time requirement of trajectory tracking.Finally,the research in this article is expected to provide new ideas for developing FSAC racing cars.