基于DMPC的商用车队列高速换道控制  

High-speed Lane Changing Control for Commercial Vehicle Platoons Based on DMPC

作　　者：王富云 袁晓红[1,2,3] 汪怡平[1,2,3] 苏楚奇[1,2,3] 刘珣[1,2,3] WANG Fu-yun;YUAN Xiao-hong;WANG Yi-ping;SU Chu-qi;LIU Xun(Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan 430070,China;Hubei Collaborative Innovation Center for Automotive Components Technology,Wuhan University of Technology,Wuhan 430070,China;Hubei Technology Research Center of New Energy and Intelligent Connected Vehicle Engineering,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,武汉430070 [2]武汉理工大学汽车零部件技术湖北省协同创新中心,武汉430070 [3]武汉理工大学湖北省新能源与智能网联车工程技术研究中心,武汉430070

出　　处：《武汉理工大学学报》2024年第6期94-101,共8页Journal of Wuhan University of Technology

基　　金：湖北省支持企业技术创新发展项目(2021BA015);湖北省科技重大项目(2021AAA006);襄阳市科技计划湖北隆中实验室专项。

摘　　要：针对商用车队列高速换道场景下稳定性问题,提出了一种考虑商用车队列状态耦合的分布式模型预测控制(DMPC)策略。采用分层控制策略,上位控制器构建商用车队列系统动力学模型,设计目标函数计算出期望加速度,下位控制器由期望加速度调节车辆节气门开度与制动压力。同时,建立了商用车队列换道轨迹规划模型并设计了基于前馈的二次线性调节器(LQR)。利用Trucksim与Matlab/Simulink联合仿真,结果表明:与普通MPC控制相比,DMPC控制能够提高商用车队列高速换道场景的轨迹跟踪性和系统稳定性。Addressing the stability issues in high-speed lane-changing scenarios for commercial vehicle platoons,this paper proposes a Distributed Model Predictive Control(DMPC)strategy that considers the state coupling of commercial vehicle platoons.A hierarchical control strategy is adopted,where the upper-level controller constructs the dynamic model of the commercial vehicle platoon system and designs an objective function to calculate the desired acceleration.The lower-level controller adjusts the vehicle's throttle opening and brake pressure based on the desired acceleration.Simultaneously,a lane-changing trajectory planning model for commercial vehicle platoons is established,and a feedforward-based Linear Quadratic Regulator(LQR)is designed.Utilizing the TruckSim and Matlab/Simulink co-simulation,the results indicate that,compared to conventional MPC control,the DMPC control can enhance the trajectory tracking and system stability in high-speed lane-changing scenarios for commercial vehicle platoons.

关 键 词：队列高速换道 分布式模型预测控制 稳定性分析 协同控制 

分 类 号：U46[机械工程—车辆工程]