论文标题
用于自动驱动器的MPC构建器：自动生成运动计划和控制的MPC
MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control
论文作者
论文摘要
这项研究基于名为MPC Builder的自动生成模型预测控制器（MPC），为车辆运动计划和控制提供了新的框架。在此框架中，事先准备了MPC所需的几个组件，例如预测模型，约束和成本功能。然后，MPC构建器根据流量情况以统一的方式在线生成各种MPC。与典型的切换MPC系统相比，该方案使我们能够以较少的设计工作来表示各种驾驶任务。考虑到可以降低计算成本的延续/广义最小残差（C/GMRE）方法，实施了该框架。最后，提出了多个驾驶场景的数值实验。
This study presents a new framework for vehicle motion planning and control based on the automatic generation of model predictive controllers (MPCs) named MPC Builder. In this framework, several components necessary for MPC, such as prediction models, constraints, and cost functions, are prepared in advance. The MPC Builder then generates various MPCs online in a unified manner according to traffic situations. This scheme enabled us to represent various driving tasks with less design effort than typical switched MPC systems. The proposed framework was implemented considering the continuation/generalized minimum residual (C/GMRES) method optimization solver, which can reduce computational costs. Finally, numerical experiments on multiple driving scenarios were presented.
