摘要
针对智能车在高速和复杂道路工况下对控制实时性的要求,提出考虑道路倾角和曲率的变步长轨迹跟踪控制方法。首先建立车辆侧倾和道路倾角与曲率的综合等效约束二自由度车辆动力学模型;其次采用预测时域变步长方法对动力学模型进行离散化;然后在综合考虑横摆稳定性约束、道路环境约束、侧倾稳定性约束以及车辆执行机构和底层驱动能力的约束下建立模型预测控制器;最后构建Simulink/CarSim联合仿真平台进行试验。结果表明,该方法在高速和复杂工况下,横向跟踪误差在0.15 m以内,且具有安全、稳定的轨迹跟踪效果。
According to the real-time control requirements of intelligent vehicles under high-speed and complex road conditions,a variable step trajectory tracking control method considering road inclination and curvature is proposed in this paper.Firstly,it establishes a two degree of freedom vehicle dynamics model with comprehensive equivalent constraints of vehicle roll,road inclination and curvature.Secondly,it separates the dynamic model by the predictive time-domain variable step method.Thirdly,it establishes the model predictive controller under the constraints of yaw stability,road environment,roll stability,vehicle actuator,and bottom driving ability.Finally,it constructs the Simulink/CarSim joint simulation platform for test.The results show that the lateral tracking error of this method is less than 0.15 m under high-speed and complex working conditions,and it has safe and stable trajectory tracking effect.
作者
张治坡
潘世举
娄静涛
徐友春
ZHANG Zhipo;PAN Shiju;LOU Jingtao;XU Youchun(Army Military Transportation University,Tianjin 300161,China)
出处
《军事交通学报》
2022年第6期72-79,共8页
Journal of Military Transportation University
基金
军队科研项目
关键词
模型预测控制
轨迹跟踪
高速工况
智能车
model predictive control
trajectory tracking
high speed working condition
intelligent vehicle
作者简介
张治坡(1987-),男,硕士研究生;徐友春(1972-),男,博士,教授,博士研究生导师.
