摘要
为提高汽车的主动安全性,针对前车忽然静止或视野死角路口突然有车辆出现等紧急情况,设计了基于模型预测控制(MPC)的轨迹跟踪控制器实现换道避撞。研究控制器参数(预测时域Np和控制时域Nc)对转向避撞效果的影响,建立路径跟踪性能综合评价指标,确定最优预测时域和控制时域值,在CarSim/Simulink中实现联合仿真。
In order to improve the active safety of automobiles,a trajectory tracking controller based on Model Predictive Control(MPC)was designed to address emergency situations such as sudden stop of the preceding vehicle or sudden appearance of vehicles at blind corners of the road for lane changing and collision avoidance.Through studying the influence of controller parameters(predictive time domain Np and control time domain Nc)on the steering collision avoidance effect,a comprehensive evaluation index of path tracking performance was established to determine the optimal predictive time domain and control time domain values.Finally,the co-simulation was implemented in CarSim/Simulink to ensure the driving safety.
作者
牟向理
石沛林
张博
李浩
于安江
傅斌
MU Xiangli;SHI Peilin;ZHANG Bo;LI Hao;YU Anjiang;FU Bin(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,Shandong,China;Traffic Safety Judicial Appraisal Institute,Shandong University of Technology,Zibo 255049,Shandong,China)
出处
《农业装备与车辆工程》
2024年第4期146-151,共6页
Agricultural Equipment & Vehicle Engineering
基金
山东省自然科学基金面上项目(ZR2020ME127)。
关键词
主动避撞
轨迹跟踪
控制器参数选择
模型预测控制
active collision avoidance
trajectory tracking
controller parameter selection
model predictive control
