Отчёт по практике: Проектирование системы автономного вождения на основе модельного предиктивного управления

Содержание
Введение······························································································· 4
1. Обзор модели предиктивного управления (MPC)········································ 7
1.1 Основы MPC·················································································· 7
1.2 Специфический дизайн····································································· 8
2. Моделирование предиктивного управления в этой системе··························· 14
2.1 Моделирование динамики транспортных средств·································· 14
2.2 Конструкция MPC для адаптивного круиз-контроля······························· 15
2.3 Проектирование MPC для систем удержания полосы движения················ 17

2.4 Проектирование MPC системы обхода препятствий······························· 20

3. Статус исследований и проблемы···························································· 23
3.1 Статус исследования········································································ 23
3.2 Ключевые проблемы········································································ 23
Заключение···························································································· 24
Литературы 26