HHO优化的SUV防侧翻模型预测控制  

Research on SUV lane changing trajectory planning method integrating rollover stability

作　　者：陈聪 金智林[1] CHEN Cong;JIN Zhilin(Department of Vehicle Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学车辆工程系,南京210016

出　　处：《重庆理工大学学报（自然科学）》2024年第4期46-54,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51775269);省部级—江苏省自然科学基金项目(BK20211190)。

摘　　要：针对运动型多功能汽车(sport utility vehicle,SUV)避障过程中侧翻安全问题,推导改进汽车侧翻评价指标并设计融合哈里斯鹰算法(HHO)离线优化器的模型预测控制器。建立六自由度车辆动力学模型,推导并改进侧翻稳定性评价指标。采集自车状态,将车辆参数输入到模型预测控制器中;设计融合侧翻评价指标、横摆角速度的代价函数;设计含HHO算法的离线优化器优化代价函数中参数的权重系数。选取3种典型工况进行避障防侧翻控制仿真,结果表明SUV使用融合HHO离线优化器的模型预测控制器可有效避免侧翻危险,并且具有较好的鲁棒性。To address the problem of rollover safety during obstacle avoidance of sports utility vehicles(SUV),the improved vehicle rollover evaluation indicator is derived and a model prediction controller integrating Harris Eagle algorithm(HHO)offline optimizer is designed.A six-degree-of-freedom vehicle dynamics model is built to derive and improve the rollover stability evaluation indicator.The self-vehicle state is collected and the vehicle parameters are put into the model prediction controller;the cost function that integrates the rollover evaluation indicator and yaw angle speed is designed;the offline optimizer with the HHO algorithm is also designed to optimize the weight coefficient of the parameters in the cost function.Three typical working conditions are selected for obstacle avoidance and rollover prevention control emulation.Our results show the SUV employing the model prediction controller that integrates the HHO offline optimizer effectively prevents rollovers and achieves fairly good robustness.

关 键 词：MPC HHO 侧翻稳定性 防侧翻控制 

分 类 号：U461.91[机械工程—车辆工程]