重庆理工大学学报2025，Vol.39Issue(19)：49-57,9.DOI:10.3969/j.issn.1674-8425(z).2025.10.006
极限工况下的大型运输车辅助转向智能控制方法
Autonomous steering intelligent control method for large transporters under extreme working conditions
摘要
Abstract
To improve dynamic lateral stability in the cross-slope minimum turning radius of large transporters under extreme working conditions,this paper develops a nonlinear tire model,a turning model and a cross-slope model.Meanwhile,it proposes an intelligent control based on assisted steering of intelligent large transporters.Thecontrol employs a multi-input and multi-output model predictive control(MPC),which integrate direct cross-swinging torque control and MPC.TruckSim and Simulink software are employed for joint simulation.A simulation platform is built to simulate the intelligent large transporter under low-speed low adhesion and high-speed high adhesion conditions,as well as under fully-loaded and unloaded conditions,with the latter being subjected to a comprehensive evaluation.Results of the simulation comparisons and hardware-in-the-loop experimental tests demonstrate the large transporters with the intelligent control method improve stability by 55%compared to the vehicles without lateral stability control,indicating enhanced stability,showing the vehicle's superior capacity of navigating roads with a minimum turning radius.关键词
大型物流运输车辆/横向稳定控制/模型预测控制算法/直接横摆力矩/联合仿真Key words
large transporters/lateral operation stabilization control/MPC algorithm/direct transverse moment/joint simulation分类
交通工程引用本文复制引用
李杰,段世龙,王晓燕,庞金录..极限工况下的大型运输车辅助转向智能控制方法[J].重庆理工大学学报,2025,39(19):49-57,9.基金项目
国家自然科学基金面上项目(51675494) （51675494）
北京物资学院校内项目(2023XJKY14,BWUISS47) （2023XJKY14,BWUISS47）
