重庆理工大学学报2025，Vol.39Issue(15)：34-43,10.DOI:10.3969/j.issn.1674-8425(z).2025.08.005
商用车考虑防侧翻的路径跟踪控制研究
Research on path following control for anti-rollover of commercial vehicles
摘要
Abstract
To address big tracking errors and rollover risks encountered during high-speed vehicle maneuvers on curved paths,this paper proposes an anti-rollover path tracking control strategy based on model predictive control(MPC).A three-degree-of-freedom(3-DOF)dynamic model is built,considering both path tracking and vehicle rollover.A rollover index(RI)incorporating lateral acceleration is derived based on the lateral load transfer rate.The accuracy of the RI is validated against the lateral offset of the zero moment point(yZMP)through simulations under fishhook and J-Turn scenarios.Results demonstrate the superior accuracy of the proposed RI compared to yZMP.An objective function incorporating heading error and lateral error is designed.The RI is incorporated alongside other stability constraints to ensure safe vehicle operation.Joint simulations are conducted in the Matlab/Simulink/Trucksim environment.Results show the proposed anti-rollover path tracking controller effectively achieves high path tracking precision and high rollover stability.关键词
无人驾驶/侧倾稳定性/模型预测控制/路径跟踪Key words
unmanned driving/roll stability/model predictive control/path following分类
交通工程引用本文复制引用
李贵远,刘澜涛,郭永荔,何洋,安峻彤..商用车考虑防侧翻的路径跟踪控制研究[J].重庆理工大学学报,2025,39(15):34-43,10.基金项目
辽宁省教育厅高校基本科研项目(LJ212410154021) （LJ212410154021）
