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.
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.
作者
万远航
邵毅明
胡广雪
吴文文
WAN Yuanhang;SHAO Yiming;HU Guangxue;WU Wenwen(School of Traffic and Transportation,Chongqing Jiaotong University,Chongqing 400074,China;School of Mechanical and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)
出处
《华侨大学学报(自然科学版)》
CAS
北大核心
2020年第4期423-427,共5页
Journal of Huaqiao University(Natural Science)
基金
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(cstc2015zdcy-ztzx30001)。
关键词
车道保持
自适应模型
预测控制
动力学仿真
lane keeping
adaptive model
predictive control
dynamics simulation