[1]李军,唐爽,周伟.考虑车辆稳定性的模型预测路径跟踪方法[J].华侨大学学报(自然科学版),2019,40(5):574-579.[doi:10.11830/ISSN.1000-5013.201904029]
　LI Jun,TANG Shuang,ZHOU Wei.Model Prediction Path Tracking Method Considering Vehicle Stability[J].Journal of Huaqiao University(Natural Science),2019,40(5):574-579.[doi:10.11830/ISSN.1000-5013.201904029]
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考虑车辆稳定性的模型预测路径跟踪方法()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第40卷
期数:
2019年第5期
页码:
574-579
栏目:
出版日期:
2019-09-20

文章信息/Info

Title:
Model Prediction Path Tracking Method Considering Vehicle Stability
文章编号:
1000-5013(2019)05-0574-06
作者:
李军1; 2;  唐爽1; 2;  周伟1; 2
1. 重庆交通大学 机电与车辆工程学院, 重庆 400074;2. 重庆交通大学 轨道交通车辆系统集成与控制重庆市重点实验室, 重庆 400074
Author(s):
LI Jun1; 2;  TANG Shuang1; 2;  ZHOU Wei1; 2
1. College of Mechanical and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China; 2. Chongqing Key Laboratory of Rail Vehicle System Integration and Control, Chongqing Jiaotong University, Chongqing 400074, China
关键词:
预测控制;  路径跟踪;  智能车辆;  车辆稳定性;  自动转向
Keywords:
predictive control;  path tracking;  intelligent vehicle;  vehicle stability;  automatic steering
分类号:
U467.1
DOI:
10.11830/ISSN.1000-5013.201904029
文献标志码:
A
摘要:
针对目前车辆路径跟踪控制大多集中于跟踪的精确性,却忽略车辆行驶稳定性的问题,提出一种考虑车辆稳定性的模型预测路径跟踪方法.首先,以简化后的车辆动力学模型为基础,推导线性时变路径跟踪预测模型,增添表征车辆稳定性的质心侧偏角等约束条件;然后,对二次规划进行求解,添加向量松弛因子解决计算中出现的无解问题;最后,通过Carsim和Matlab/Simulink联合仿真对文中方法进行验证.仿真结果表明:基于文中所提方法设计的控制器能够在不同车速、不同附着系数下,保证跟踪参考路径较为精确的同时,还可以保证车辆的稳定性.
Abstract:
At present, the majority of vehicle path tracking control methods focus on the tracking accuracy but ignore the importance of stability of moving vehicle. An optimized model prediction path tracking method that considers the vehicle stability was proposed. Firstly, based on the simplified vehicle dynamics model, a linear time-varying path tracking prediction model was derived and constraints such as the sideslip angle of the vehicle which characterizing the vehicle stability were added. Then the quadratic equation were solved, the vector relaxation factor were added to solve the no solution problem. Finally, the method was verified by the co-simulation of Carsim and Matlab/Simulink. The simulation results show that the controller designed based on the proposed method can more accurately track the reference path and ensure the stability of the vehicle at different speed and different adhesion coefficients.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2019-04-17
通信作者: 李军(1964-),男,教授,博士,主要从事发动机排放与控制、新能源汽车和智能车辆控制的研究.E-mail:cqleejun@163.com.
基金项目: 国家自然科学基金资助项目(51305472); 重庆市轨道交通车辆系统集成与控制重庆市重点实验室项目(CSTC2015YFPT-ZDSYS30001)
更新日期/Last Update: 2019-09-20