자율주행 응용 사례

자율주행에 대한 모델 예측 제어기 설계 및 시뮬레이션

자율주행 응용 분야에서 모델 예측 제어(MPC)를 사용하면 승객의 편안함과 안전을 유지하면서 차량의 반응 속도를 향상시킬 수 있습니다. MPC에는 차량의 가까운 미래 동작을 예측하고 최적화 중에 제약 조건을 명시적으로 처리하는 등 자율주행에 유용한 몇 가지 기능이 포함되어 있습니다. 자세한 내용은 Automated Driving Using Model Predictive Control 항목을 참조하십시오.

블록

Adaptive Cruise Control System	Simulate adaptive cruise control using model predictive controller
Lane Keeping Assist System	Simulate lane-keeping assistance using adaptive model predictive controller
Path Following Control System	Simulate path-following control using adaptive model predictive controller
Vehicle Path Planner System	Plan collision-free path from initial pose to target pose (R2022b 이후)

도움말 항목

MPC 주행 기본 사항

Automated Driving Using Model Predictive Control
You can design and simulate automated driving systems using MPC controllers.

적응형 크루즈 컨트롤

모델 예측 제어를 사용한 적응형 크루즈 컨트롤 시스템
에고 차량의 종방향 가속도를 조정하여 설정 속도를 추종하고 선행 차량과의 안전 거리를 유지하는 MPC 제어기를 설계합니다.
Adaptive Cruise Control with Sensor Fusion (Automated Driving Toolbox)
Implement an automotive adaptive cruise controller using sensor fusion.

차선 유지 보조

Lane Keeping Assist System Using Model Predictive Control
Design an MPC controller that keeps an ego vehicle traveling along the center of a straight or curved road by adjusting the front steering angle.
Lane Keeping Assist with Lane Detection (Automated Driving Toolbox)
Simulate and generate code for an automotive lane keeping assist controller.

차선 추종

Lane Following Using Nonlinear Model Predictive Control
Design a lane-following controller using nonlinear MPC with road curvature previewing.
Lane Following Control with Sensor Fusion and Lane Detection (Automated Driving Toolbox)
Simulate and generate code for an automotive lane-following controller.
Highway Lane Following (Automated Driving Toolbox)
Simulate a lane-following controller and monocular camera-based perception algorithm in the Unreal Engine^® simulation environment.

차선 변경

Lane Change Assist Using Nonlinear Model Predictive Control
Design a lane-change controller using nonlinear MPC.
Highway Lane Change Planner and Controller (Automated Driving Toolbox)
Design and test the planner and controller components of a lane change maneuver system designed for highway driving.

주차

Plan Parallel Parking Path Using Multistage Nonlinear Model Predictive Control
You can plan a parking path for a vehicle using the Vehicle Path Planner System block.
Parking Valet Using Multistage Nonlinear Model Predictive Control
Design controller for parking garage valet using nonlinear model predictive control.
Parallel Parking Using Nonlinear Model Predictive Control
Design a parallel parking controller using nonlinear model predictive control.
Parallel Parking Using RRT Planner and MPC Tracking Controller
Automatically parallel park a vehicle by generating a path using the RRT star planner and tracking the trajectory using nonlinear model predictive control.