基于MPC的半挂牵引车横向运动控制研究  

Research on Lateral Motion Control of Semi-trailer Tractor Based on MPC

作　　者：辛乾 班兵 杨洋 阮加良 管媛媛 Xin Qian;Ban Bing;Yang Yang;Ruan Jialiang;Guan Yuanyuan(Shaanxi Heavy Duty Automobile Co.,Ltd.,Shaanxi Xi'an 710200)

机构地区：[1]陕西重型汽车有限公司

出　　处：《汽车实用技术》2019年第12期45-48,共4页Automobile Applied Technology

摘　　要：近些年来,随着高级辅助驾驶系统(ADAS)在商用车领域的逐渐兴起,为实现车道保持辅助系统(LKAS)及无人驾驶等,对车辆的横摆运动控制要求也越来越高。文章基于模型预测控制(MPC)算法,设计了一种用于半挂牵引车循迹的车辆前轮转角控制算法。最后通过Trucksim与Matlab联合仿真,实现了不同车速下对双移线路径的良好循迹。In recent years, with the gradual rise of Advanced driver assistance system(ADAS) in commercial vehicle field, in order to implement Lane Keeping Assistance System(LKAS) and autonomous vehicle ect, the requirements for vehicle yaw motion control are also getting higher and higher. Based on the model predict control(MPC) algorithm, this paper proposed an algorithm to control the front wheel angle of semi-trailer tractor tracking. Finally, Under the operation conditions of double lane change, co-simulation of Trucksim and Matlab , the results show that the tracking effect is good.

关 键 词：横摆动力学 模型预测控制 联合仿真 

分 类 号：U471.15[机械工程—车辆工程]