中国机械工程2024，Vol.35Issue(6)：1000-1009,10.DOI:10.3969/j.issn.1004-132X.2024.06.006
基于优化动力学模型的路径跟踪控制研究
Research on Path Tracking Control Based on Optimized Dynamics Model
摘要
Abstract
In response to the poor adaptability of conventional path tracking model predictive con-trollers under high-speed and large-curvature conditions,an adaptive prediction horizon control strate-gy was proposed based on optimized dynamic models.Firstly,to address the issues of insufficient ac-curacy of classical dynamics models under high lateral acceleration conditions,an optimized model in-cluding roll steer and compliance steer was established,achieving higher precision prediction of vehicle states.Secondly,to address the issues of fixed prediction horizon control under high-speed and large-curvature conditions,an adaptive prediction horizon strategy was proposed based on two-dimensional Gaussian function,achieving real-time adjustment of preview distances with low algorithm complexi-ty.Finally,the effectiveness of the controller on double-lane-change roads was verified throught Car-Sim/Simulink joint simulation.Results show that a reduction of 45.1％in lateral position peak errors and 72.4％in yaw angle peak errors indicate better adaptability of the designed controller to extreme conditions.关键词
智能网联汽车/横向动力学优化/路径跟踪/模型预测控制/自适应预测时域Key words
intelligent connected vehicle/lateral dynamics optimization/path tracking/model predictive control/adaptive prediction horizon分类
交通工程引用本文复制引用
何智成,王煜凡,韦宝侣,李智,卜腾辰..基于优化动力学模型的路径跟踪控制研究[J].中国机械工程,2024,35(6):1000-1009,10.基金项目
湖南省杰出青年基金(2021JJ10016) （2021JJ10016）
广西科技重大专项(2021AA04004) （2021AA04004）
柳州市科技计划(2022AAA0101) （2022AAA0101）
