自适应时域参数MPC的智能车辆轨迹跟踪控制OACSTPCD

In order to solve the problem of stability and control accuracy of intelligent vehicle active steering track-ing control on low adhesion road surface,an intelligent vehicle trajectory tracking control strategy based on adaptive time domain parameters was proposed.Based on the vehicle dynamics model and model predictive control algorithm(MPC),a linear time-varying MPC controller was established,and dynamic constraints including tire side deflec-tion constraints,centroid side deflection constraints and front wheel angle constraints were added to solve the opti-mal front wheel steering angle.The influence of time domain parameters in the controller on the control effect was analyzed,and an adaptive time domain parameter controller was designed.According to the acquired vehicle speed,the optimal predictive time domain and control time domain parameters were obtained and input to the con-troller,improving the control accuracy and stability of the controller at different speeds.By building the MATLAB/SimuLink and CarSim co-simulation platform,the fixed time domain controller and adaptive time domain controller were compared and simulated with the condition of low adhesion road surface.The results showed that the adaptive time-domain controller could effectively improve the performance of the controller,reduce the lateral deviation,and improve the control accuracy of trajectory tracking.At the same time,it also had strong adaptability to different speeds,and the lateral deflection angle of the vehicle center of mass was controlled within 0°-1.5°,which effec-tively ensured the stability of the vehicle.