Trajectory Planning And Obstacle Avoidance Design Of Unmanned Vehicle Based On Model Predictive Control

With the rapid development of computer technology and sensor technology,unmanned driving technology has gradually become a hot spot in scientific research institutions and universities.To realize driverless driving,vehicles need to be able to autonomously drive according to preset trajectories,and adapt to environmental changes and traffic conditions during operation,so as to ensure the safety and reliability of driving.Trajectory planning and obstacle avoidance design are proposed and developed to solve this problem.In this paper,trajectory planning and obstacle avoidance of unmanned vehicles are studied under the framework of model predictive control.The main research results are as follows:(1)The dynamic system of the four-wheeler is improved and modeled.On this basis,the influence of the internal force of the wheel on the dynamic characteristics of the vehicle is studied,and a more accurate wheel force model is adopted under the action of the longitudinal load.The modeling theory and mechanical properties of tire are elaborated and simulated in detail.(2)Some improvements are made to the proposed general risk model based on ODG.This paper discusses the work of ODG-based general risk model and MPC model,and tries to combine the two algorithms to respond to rapidly changing obstacles.Due to this advantage,the proposed method provides safe control and minimizes vehicle vibration.(3)The trajectory planner and tracking controller of autonomous vehicle are integrated to realize safe and reliable trajectory planning and tracking.A trajectory planner based on state grid method and a tracking controller based on model predictive control are designed.The trajectory planner is used to generate a smooth trajectory that enables the vehicle to reach the target position while complying with the constraints.The tracking controller is responsible for controlling the vehicle to travel along the planned trajectory,and ADAPTS when the vehicle is disturbed or the environment changes.Finally,the co-simulation experiment was carried out on Matlab/Simulink and Car Sim platform.Through the simulation experiment,it can be seen that :1.The obtained trajectory is safe and reliable,and can achieve the purpose of avoiding obstacles.2.The method adopted can quickly and accurately realize the tracking control of vehicle displacement and speed.