农业装备与车辆工程2025，Vol.63Issue(12)：17-22,6.DOI:10.3969/j.issn.1673-3142.2025.12.004
变时域MPC与DYC协同控制的智能车辆转向避障控制
Steering and obstacle avoidance control for intelligent vehicles based on time-varying MPC and DYC coordinated control
摘要
Abstract
In response to the problems of poor trajectory tracking accuracy and insufficient driving stability caused by high driving speeds when autonomous vehicles are steering to avoid obstacles,this paper proposes a control method that considers tire slip angle constraints and uses variable time-domain MPC and direct yaw moment coordination control.The prediction time-domain in traditional MPC control was designed according to different driving speeds,allowing it to change according to changes in vehicle speed,while also considering the impact of tire slip angle on the vehicle.In order to improve driving stability,a cost function was designed to solve for the additional yaw moment acting on the vehicle.Finally,the simulation results showed that the adopted control reduces tracking error by an average of 0.143 5 m,maximum yaw rate by an average of 0.109 9 rad/s,and maximum center of mass lateral angle by an average of 0.366 4° compared to MPC control.This verifies that the method still has good tracking accuracy and driving stability at high vehicle speeds.关键词
自动驾驶/车辆控制/变时域模型预测控制/直接横摆力矩Key words
autonomous driving/vehicle control/variable horizon model predictive control/direct yaw moment分类
交通工程引用本文复制引用
张森,邝家凯,刘光辉,朱浩辰..变时域MPC与DYC协同控制的智能车辆转向避障控制[J].农业装备与车辆工程,2025,63(12):17-22,6.基金项目
广东理工学院校级科研项目"自动驾驶车辆紧急避障的轨迹跟踪控制研究"(2025YBZK027) （2025YBZK027）
