关键词: 模型预测控制, 禁区边界, 倍增法, 避障

Abstract: To improve the reliability of predicting and avoiding obstacles of unmanned vehicle, based on MPC method and vehicle dynamic model, the paper puts forward an obstacle-avoidance-control strategy based on penalty function of restricted areas of the obstacles and multiplication of predictive distance. Taking the size of vehicle into consideration, the step function based penalty function of restricted boundaries is introduced for defining obstacle borders. Meanwhile, in the process of obstacle prediction, the predictive distance is multiplied, improving the ability of obstacle prediction of vehicle in a far distance. Simulation test is based on vehicle dynamics platform CarSim, combined with S-function in Matlab/Simulink. Different operating modes are tested. Results show the vehicle can avoid the obstacle given and return to the original path, which meets the expected requirement, verifying the feasibility of the algorithm.

Key words: Model Predictive Control（MPC）, restricted boundaries, multiplication, obstacle avoidance