[1]万远航,邵毅明,胡广雪,等.自适应模型预测控制的车道保持控制策略[J].华侨大学学报(自然科学版),2020,41(4):423-427.[doi:10.11830/ISSN.1000-5013.201906020]
　WAN Yuanhang,SHAO Yiming,HU Guangxue,et al.Lane Keeping Control Strategy Based on Adaptive Model Predictive Control[J].Journal of Huaqiao University(Natural Science),2020,41(4):423-427.[doi:10.11830/ISSN.1000-5013.201906020]
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自适应模型预测控制的车道保持控制策略()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第41卷
期数:
2020年第4期
页码:
423-427
栏目:
出版日期:
2020-07-20

文章信息/Info

Title:
Lane Keeping Control Strategy Based on Adaptive Model Predictive Control
文章编号:
1000-5013(2020)04-0423-05
作者:
万远航1;  邵毅明2;  胡广雪2;  吴文文2
1. 重庆交通大学 交通运输学院, 重庆 400074;2. 重庆交通大学 机电与车辆工程学院, 重庆 400074
Author(s):
WAN Yuanhang1;  SHAO Yiming2;  HU Guangxue2;  WU Wenwen2
1. School of Traffic and Transportation, Chongqing Jiaotong University, Chongqing 400074, China; 2. School of Mechanical and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, China
关键词:
车道保持;  自适应模型;  预测控制;  动力学仿真
Keywords:
lane keeping;  adaptive model;  predictive control;  dynamics simulation
分类号:
U467
DOI:
10.11830/ISSN.1000-5013.201906020
文献标志码:
A
摘要:
建立车辆侧向动力学模块、车辆传感模块、道路曲率预瞄模块.在传统模型预测控制(MPC)算法的基础上,利用辛普森法则,结合车道保持优化性能指标和系统约束,设计基于自适应模型预测控制的车道保持控制策略.在Simulink环境下,将其与基于传统模型预测控制器进行比较分析.仿真结果表明:相较于模型预测控制,自适应MPC能够在各控制周期实现车辆模型更新,在强非线性工况下具备较好的鲁棒性,进而能够保证行车安全的前提下,获取较好的乘坐舒适性.
Abstract:
Vehicle lateral dynamics module, vehicle sensing module and road curvature preview module were established. Based on the traditional model predictive control(MPC)algorithm, using Simpson’s law, combined with lane keeping optimization performance index and system constraints, a lane keeping control strategy based on adaptive model predictive control was designed and compared with the traditional model predictive controller in Simulink environment. The simulation result shows that compared with the model predictive control, the adaptive MPC can update the vehicle model in each control cycle, has better robustness under strong non-linear conditions, and can obtain better ride comfort under the premise of ensuring driving safety.

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备注/Memo

备注/Memo:
收稿日期: 2019-06-19
通信作者: 邵毅明(1955-),男,教授,博士,主要从事道路交通安全方面的研究.E-mail:sym@cquc.edu.cn.
基金项目: 国家重点研发计划项目(2016YFB0100905); 重庆市重点产业共性关键技术创新专向资助项目(cstc 2015zdcy-ztzx30001)
更新日期/Last Update: 2020-07-20