重庆理工大学学报（自然科学版）2025，Vol.39Issue(3)：19-26,8.DOI:10.3969/j.issn.1674-8425(z).2025.02.003
考虑路面附着系数的自适应MPC轨迹跟踪算法
Adaptive MPC trajectory tracking algorithm considering road adhesion coefficients
摘要
Abstract
To improve the trajectory tracking accuracy and driving stability of autonomous vehicles,we propose an adaptive MPC trajectory tracking control algorithm considering the road adhesion coefficient.First,a three-degree-of-freedom vehicle dynamics model and a trajectory tracking model prediction controller are built based on lateral tracking error and the value function of the model predictive controller of road curvature adaptive adjustment.Then,based on the recursive least squares method,the road adhesion coefficient is estimated in real time,and the estimation results are introduced into the controller as variables related to tire deflection angle and lateral acceleration constraints,addressing the vehicle instability caused by the lateral force of the tire easily going beyond its linear range on the low adhesion road.Finally,the CarSim and Matlab/Simulink co-simulation platforms are built for simulation experiments.Results show our proposed algorithm achieves higher tracking accuracy and stability than the traditional MPC control algorithm in the pavement environment with different adhesion coefficients.关键词
轨迹跟踪/路面附着系数识别/模型预测控制/模糊控制/权重系数Key words
path tracing/pavement adhesion coefficient identification/model predictive control/fuzzy control/weight coefficient分类
信息技术与安全科学引用本文复制引用
李文礼,李旭..考虑路面附着系数的自适应MPC轨迹跟踪算法[J].重庆理工大学学报（自然科学版）,2025,39(3):19-26,8.基金项目
重庆市教委科学技术研究项目(KJQN202201170) （KJQN202201170）
