This project is implemented by Bassam Alrifaee, from
the RWTH Aachen University, during his PhD thesis
titled "Networked Model Predictive Control for Vehicle Collision
Avoidance". Helpful contributions were made by the following students:
Janis Maczijewski, Marwan Chawa, Mohamed Hetaba, Mostafa Nabil,
Kevin Kostyszyn, Mark Azer, Masoumeh G. Mamaghani
Also thanks to Arthur Richards' work which provided a starting point
for the initial implementation.: A. G. Richards and J. P. How,
"Aircraft Trajectory Planning with Collision Avoidance using Mixed
Integer Linear Programming" in Proceedings of the American Control
Conference, 2002.
Users are requested to cite the following in any work
utilizing this software:
# This MATLAB simulation
[1] B. Alrifaee. MATLAB Simulation of Networked Model Predictive Control
for Vehicle Collision Avoidance, May 2017. https://doi.org/10.5281/zenodo.1252992
# PhD thesis
[2] B. Alrifaee. Networked Model Predictive Control for Vehicle
Collision Avoidance. PhD thesis, RWTH Aachen University, 2017.
# Distributed MPC
[3] B. Alrifaee, F. J. He\sseler, and D. Abel. Coordinated
Non-Cooperative Distributed Model Predictive Control for Decoupled
Systems Using Graphs. In 6th IFAC Workshop on Distributed Estimation
and Control in Networked Systems NecSys 2016, Tokyo, Japan, September 2016.
# Optimization
[4] B. Alrifaee, J. Maczijewski, and D. Abel. Sequential Convex
Programming MPC for Dynamic Vehicle Collision Avoidance. In 2017 IEEE
Conference on Control Technology and Applications (CCTA), pages 2202–2207,
Aug 2017.
[5] B. Alrifaee, M. G. Mamaghani, and D. Abel. Centralized Non-Convex
Model Predictive Control for Cooperative Collision Avoidance of
Networked Vehicles. In Intelligent Control (ISIC), 2014 IEEE
International Symposium on, pages 1583-1588, Oct 2014.
Video of Experimental Results:
https://youtu.be/X2syxG5GI6g
Video of the Simulation Results:
https://youtu.be/zS3UBx09O6M
RWTH Aachen University:
http://www.rwth-aachen.de/
# MATLAB code (Tested with version R2016a)
# Dependencies
# CPLEX (Tested with version 12.6.3)
* Download and install IBM ILOG CPLEX Optimization Studio.
* CPLEX is free for academics, search for "IBM Academic Initiative"
* Set the path in 'startup.m'.
# Usage
# startup.m
Run the startup to setup libraries and paths.
# main.m
If you run 'main.m' you will be prompted to select a scenario and controller.
The simulation will start and show a live plot at each simulation step.
The simulation result will be saved in 'output/<scenarioName>.<controllerName>/'.
You can press <space> to pause and continue the simulation or <escape> to abort.
# Controller Interface
All controllers have a common interface:
[U,trajectoryPrediction,controllerOutput] = controller(scenario,iter,previousOutput)
* U
The predicted steering angles for all prediction steps and vehicles, matrix(Hp, nVeh).
* trajectoryPrediction
The predicted trejectory of all vehicles for all prediction steps, matrix(Hp,ny,nVeh).
* controllerOutput
A struct with optional outputs.
* scenario
A struct describing the scenario. For more see 'defaultScenario()'.
* iter
Time-variant controller inputs (current vehicle/obstacle states, reference trajectories, etc).
* previousOutput
The 'controllerOutput' from the previous iteration. Useful for initializing
an optimizer with the last result. Empty on the first iteration.
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温馨提示
主要探讨了在车辆碰撞避免领域中,如何利用网络模型预测控制(Networked Model Predictive Control, NMPC)的方法进行MATLAB仿真。通过构建精确的车辆动力学模型和网络通信模型,实现了对车辆行为的实时预测和控制,从而有效避免了潜在的碰撞风险。文中详细介绍了NMPC算法的实现过程,并通过MATLAB仿真验证了该方法的有效性。 适用人群: 本研究适用于汽车工程、控制理论、计算机仿真等领域的研究人员和工程师,以及对智能交通系统和自动驾驶技术感兴趣的学者和学生。 使用场景: 该研究可用于开发高级驾驶辅助系统(ADAS)和自动驾驶车辆的碰撞避免功能,提高道路安全性和行车效率。 目标: 旨在为车辆碰撞避免提供一种有效的控制策略,减少交通事故的发生,推动智能交通系统的发展。 关键词标签: 车辆碰撞避免 网络模型预测控制 MATLAB仿真 智能交通系统
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收起资源包目录
Net-MPC_Collision-Avoidance-master.rar (58个子文件)
Net-MPC_Collision-Avoidance-master
Networked Model Predictive Control for Vehicle Collision Avoidance.pdf 5.74MB
LICENSE.txt 34KB
startup.m 1008B
controller
SCP_controller.m 2KB
MILP_CPLEX_controller.m 3KB
MIQP_CPLEX_controller.m 3KB
SCP_optimizer.m 5KB
main.m 3KB
README.txt 3KB
a.txt 28B
core
clipDeltaUtoSteeringLimit.m 1KB
convert_to_QCQP.m 4KB
sampleReferenceTrajectory.m 3KB
blk.m 727B
plotOnline.m 6KB
config.m 1KB
kahn.m 1KB
QCQP_evaluate.m 3KB
decode_deltaU.m 1KB
list_controllers.m 843B
filter_scenario.m 1KB
vehicleColors.m 771B
evaluateInOriginalProblem.m 4KB
list_strategies.m 790B
getShortestDistance.m 3KB
startOptionsUI.m 3KB
runSimulation.m 10KB
generate_mpc_matrices.m 2KB
rm_dim.m 718B
prediction_matrices.m 1KB
replay.m 1KB
convert_to_MIP.m 9KB
mpc_cost_function_matrices.m 1KB
vehicles_as_obstacles.m 2KB
list_scenarios.m 2KB
calculateAllSafetyDistances.m 2KB
transformedRectangle.m 1KB
symmetric.m 690B
strendswith.m 737B
discretize.m 2KB
Projection2D.m 2KB
MPC_init.m 3KB
filter_iter.m 905B
indices.m 913B
models
bicycleModelRajamani2.m 2KB
auto_diff.m 972B
scenarios
defaultObstacle.m 1KB
completeScenario.m 2KB
parallelScenario.m 2KB
circleScenario.m 1KB
defaultScenario.m 3KB
froggerScenario.m 1KB
addVehicle.m 1KB
addObstacle.m 877B
defaultVehicle.m 2KB
control_strategies
PB_predecessor_groups.m 1KB
Coop_strategy.m 3KB
PB_strategy.m 4KB
共 58 条
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- shuang__ly2024-05-20代码运行出错,缺少东西。 #待补充教程
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