自动驾驶车辆模型预测路径跟踪控制的FPGA硬件加速实现

doi:10.19562/j.chinasae.qcgc.2025.09.002

Abstract

Abstract:

For the high complexity of online solving in model predictive control （MPC） and its challenges in real-time implementation on existing autonomous vehicle onboard controllers， an FPGA hardware-accelerated implementation of MPC-based path tracking method is proposed in this paper. Firstly， an MPC-based path tracking controller for autonomous vehicles is designed. Then， to simplify the solution process， the MPC problem is transformed into a constrained quadratic programming problem， and the Hildreth method is introduced for solving it. Furthermore， to improve the real-time performance and deployment efficiency of the control algorithm， a convenient FPGA implementation scheme for the MPC path tracking algorithm is developed based on the Xilinx System Generator tool. Finally， MATLAB/Simulink-CarSim co-simulation and hardware-in-the-loop （HIL） tests are conducted under different conditions. The results show that the proposed method enables autonomous vehicles to accurately track the desired path， with an average FPGA computation time of less than 0.1 ms， validating its effectiveness and real-time performance.

Key words: autonomous vehicles, model predictive control, FPGA implementation, path tracking

Wenchang Li,Zhiguo Zhao,Kaichong Liang,Kun Zhao,Qin Yu. FPGA Hardware-Accelerated Implementation of Model Predictive Path Tracking Control for Autonomous Vehicles[J].Automotive Engineering, 2025, 47(9): 1655-1664.

Figures/Tables 13

算法1 Hildreth求解QP问题算法
输入：矩阵 $H$ ， $f$ ， $A C$ ， $b$
输出：控制输入序列最优解 $Δ U *$
1	初始化拉格朗日乘子 $λ$ 和迭代次数
2	根据式（15）第1项求得无约束全局最优解；
3	如果解满足式（9）中所有约束条件：
4	输出最优解；
5	否则：
6	对于i从1到最大迭代次数：
7	令 $λ p = λ$ ；
8	对于j从1到约束维数：
9	根据式（19）、式（20）逐元素搜索 $λ$ ；
10	令 $? = (λ p - λ) T (λ p - λ$ ）；
11	如果 $? ≤ 10 e - 8$ ：
12	停止搜索；
13	根据式（21）输出最优解。

算法2 Gauss-Jordan消元法求逆矩阵
输入：大小为 $n × n$ 的矩阵 $Z$
输出：逆矩阵 $Z - 1$
1	构造增广矩阵 $M = [Z I]$
2	对于i从1到n：
3	对于k从i到n：
4	找到第一个 $M j i ≠ 0$ 的元素作为主元；
5	如果主元不在第i行：
6	交换主元所在行和第i行；
7	根据式（24）对第i行进行归一化处理；
8	对于j从1到n：
9	如果 $j ≠ i$ ：
10	根据式（25）消去其他行主元列元素；
11	提取增广矩阵 $M$ 的右半部分作为 $Z - 1$ ；
12	返回 $Z - 1$ 。

References 25

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FPGA Hardware-Accelerated Implementation of Model Predictive Path Tracking Control for Autonomous Vehicles

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