安徽工程大学学报2024，Vol.39Issue(5)：32-41,10.
基于模型预测控制的车辆路径跟踪控制研究
Vehicle Path Tracking Control Based on Model Predictive Control
摘要
Abstract
Aiming at the problem of low tracking accuracy of intelligent vehicles under low adhesion coef-ficient and large curvature road surface,a high-precision medium-low speed adaptive vehicle path track-ing controller based on model predictive control is designed.Firstly,the lateral deflection characteristics of tires are analyzed according to the Pacejka tire model,and the range of tire lateral deflection angle is constrained to limit the tire lateral deflection force in the linear region to prevent the vehicle from gener-ating lateral slip.Secondly,according to the curvature magnitude of the vehicle tracking reference path,the directional deviation weights,lateral deviation weights of the vehicle and the reference path within the prediction range are adaptively adjusted to reduce the vehicle path tracking error.The results of the simulations demonstrate that the proposed controller exhibits high tracking accuracy,especially when navigating on slippery curved road surfaces at low and medium speeds.关键词
智能车辆/路径跟踪/模型预测控制/侧偏角约束Key words
intelligent vehicles/path tracking/model predictive control/side deviation angle constraints分类
信息技术与安全科学引用本文复制引用
周骏,韩超..基于模型预测控制的车辆路径跟踪控制研究[J].安徽工程大学学报,2024,39(5):32-41,10.基金项目
安徽高校研究生科学研究项目(YJS20210447) （YJS20210447）
芜湖市科技计划项目(2021cg21) （2021cg21）
安徽工程大学"三全育人"模式下教学科研方式研究与创新项目(Xjky2022055) （Xjky2022055）
