基于横纵向MPC的智能车换道控制算法  

Lane Change Control Algorithm of Intelligent Vehicle Based on Lateral and Longitudinal MPC

作　　者：孙志伟 李聪 SUN Zhi-wei;LI Cong(Shanghai University of Engineering Science,School of Mechanical and Automotive Engineering,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《计算机仿真》2023年第4期461-468,共8页Computer Simulation

基　　金：国家自然科学基金(51505275)。

摘　　要：为了保证智能车辆在不同车速以及极限工况下跟踪控制的精确性和稳定性,提出了一种结合横纵向控制的模型预测控制(MPC)的轨迹跟踪控制算法。首先建立基于车辆动力学模型的横向误差动力学模型以及车辆纵向控制模型,设计基于横纵向控制的MPC控制器,通过MATLAB/Simulink和CarSim进行仿真验证。仿真结果表明,控制器具有较好的跟踪精度和鲁棒性。将所设计的控制器与未添加纵向控制的MPC控制器进行对比分析,仿真结果表明,添加纵向控制后MPC控制器跟踪精度更优。In order to ensure the accuracy and stability of tracking control of intelligent vehicles at different speeds and extreme conditions,a trajectory tracking control algorithm based on model predictive control(MPC)combined with lateral and longitudinal control was proposed.Firstly,the lateral error dynamics model based on vehicle dynamics model and vehicle longitudinal control model were established,and the MPC controller based on lateral and longitudinal control was designed,which was verified by Matlab/Simulink and CarSim simulation.Simulation results show that the controller has better tracking accuracy and robustness.Then,on this basis,the designed controller was compared with the MPC controller without longitudinal control,and the simulation results show that the MPC controller with longitudinal control has better tracking accuracy.

关 键 词：智能车辆 横向控制 纵向控制 轨迹跟踪 模型预测控制 

分 类 号：U461[机械工程—车辆工程]