基于模糊MPC的自主车辆队列转向换道协同控制系统设计  

Design of autonomous vehicle queue steering and lane changing collaborative control system based on fuzzy MPC

作　　者：杨立柱 李冰[2] YANG Lizhu;LI Bing(Yunnan Design Institute Group Co.,Ltd.,Kunming 650228,China;Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]云南省设计院集团有限公司,云南昆明650228 [2]昆明理工大学,云南昆明650500

出　　处：《电子设计工程》2025年第3期53-57,62,共6页Electronic Design Engineering

基　　金：国家自然科学基金青年项目(52002161)。

摘　　要：传统的自主车辆队列控制方法主要依赖于简单的规则和传感器信息,在复杂场景下往往难以达到理想的稳定性和实时性。为提高自主车辆队列在不同工况下执行转向换道时的行驶稳定性和实时性,提出基于模糊模型预测控制(Model-based Predictive Control,MPC)的自主车辆队列转向换道协同控制系统设计。该系统的硬件结构包括电源管理模块、电机驱动模块、传感器采集模块以及通信模块等。基于硬件结构建立自主车辆队列数学模型,获取自主车辆队列的行驶特性。在MPC控制器中引入模糊控制策略完成系统的软件设计,实现自主车辆队列转向换道的协同控制。实验结果表明,所提方法控制精度和实时性高,且能够有效提高车辆的行驶稳定性。Traditional autonomous vehicle queue control methods mainly rely on simple rules and sensor information,and often find it difficult to achieve ideal stability and real-time performance in complex scenarios.To improve the driving stability and real-time performance of autonomous vehicle queues during turning and lane changing under different working conditions,a Model-based Predictive Control(MPC)based collaborative control system design for autonomous vehicle queues turning and lane changing is proposed.The hardware structure of the system includes a power management module,a motor drive module,a sensor acquisition module,and a communication module.Establish a mathematical model of autonomous vehicle queue based on hardware structure,and obtain the driving characteristics of autonomous vehicle queue.Introducing fuzzy control strategy into the MPC controller to complete the software design of the system,achieving collaborative control of autonomous vehicle queue turning and lane changing.The experimental results show that the proposed method has high control accuracy and real-time performance,and can effectively improve the driving stability of the vehicle.

关 键 词：传感器采集 车辆队列模型 MPC 模糊控制策略 转向换道协同控制 

分 类 号：TN964[电子电信—信号与信息处理]