摘要
针对智能车辆的横向控制问题,采用3自由度车辆模型,设计了一种基于模型预测算法的车辆横向控制策略。将非线性的3自由度车辆模型进行线性化和离散化,得到线性离散的车辆模型。以前轮转角为控制量,横摆角偏差和横向位移偏差为输出量推导出车辆预测模型,并且建立目标函数和约束条件。最后通过驾驶员在环仿真实验验证,所提出的控制策略能有效实现智能车辆的横向控制。
Aiming at lateral control of intelligent vehicle,3 degrees of freedom(DOFs)is used to design a lateral controller of vehicle based on model predictive algorithm.The nonlinear vehicle dynamics model is linearized and discretized to obtain the linear and discrete vehicle model.Front wheel angle is the control quantity.The yaw angle deviation and the lateral displacement deviation are the output quantities.And then,the vehicle prediction model is derived and the cost function and vehicle constraints are established.Finally,the proposed controller can effectively realize lateral control of intelligent vehicle through the driver in-the-loop simulation experiment.
作者
杨洋
孙涛
李洁
Yang Yang;Sun Tao;Li Jie(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)
出处
《农业装备与车辆工程》
2019年第4期47-50,共4页
Agricultural Equipment & Vehicle Engineering
关键词
智能车辆
横向控制
模型预测算法
驾驶员在环仿真
intelligent vehicle
lateral control
model predictive algorithm
driver in-the-loop simulation
