摘要
为提高商用车的紧急避撞性能,采用了转向和制动联合避撞方式。而针对半挂汽车列车在紧急转向时容易失稳的问题,设计了考虑防止侧翻和横摆失稳的非线性模型预测控制器,并在紧急避撞场景的不同载荷和不同速度工况进行仿真验证。鉴于该控制器实时性能的不足,以其为跟踪性能的基准,设计了考虑质心侧偏角约束的线性时变模型预测控制算法,在满足避撞轨迹跟踪精度要求条件下,改善算法实时性。最后,制作了缩小版的半挂汽车列车试验车,进行紧急避撞工况的轨迹跟踪验证。结果表明,所设计的控制算法能准确跟踪目标轨迹,满足实际应用需求。
To enhance the emergency collision avoidance performance of commercial vehicles,the way of steering/braking joint collision avoidance is adopted.In view of that tractor semi-trailer combination is prone to instability in emergency steering,a nonlinear model predictive controller with consideration of rollover and yaw instability prevention is designed and validated by simulations under different load and speed conditions in emergency collision avoidance scene.Accounting for the inadequate real time performance of the controller,with which as the datum of tracking performance a linear time-varying model predictive control algorithm is designed for improving its real time performance in a condition of meeting the requirements on the tracking accuracy of collision avoidance trajectory.Finally,a small scaled test vehicle of tractor semi-trailer combination is produced to carry out trajectory tracking verification in emergency collision avoidance condition.The results show that the control algorithm designed can accurately follow the target trajectory,meeting the requirements of practical application.
作者
李道飞
查安飞
徐彪
张家杰
Li Daofei;Zha Anfei;Xu Biao;Zhang Jiajie(Institute of Power Machinery and Vehicular Engineering,Zhejiang University,Hangzhou 310027)
出处
《汽车工程》
EI
CSCD
北大核心
2022年第7期1098-1106,1115,共10页
Automotive Engineering
基金
浙江省科技厅领雁研发攻关计划项目(2022C01241)资助。
关键词
半挂汽车列车
紧急避撞
轨迹跟踪
模型预测控制
实车验证
tractor semi-trailer combination
emergency collision avoidance
trajectory tracking
model predictive control
real vehicle verification
