The invention discloses a vehicle lane-changing path tracking control method based on model prediction, and belongs to the technical field of intelligent vehicle control. The vehicle lane-changing path tracking control method is applied to an advanced driver-assistance system of a vehicle and comprises the steps of establishing an expected lane-changing path model based on obverse and reverse trapezoid yaw angle acceleration, performing force analysis on a lane-changing vehicle, establishing a 3-DoF vehicle dynamic model, converting the nonlinear 3-DoF vehicle dynamic model into a discrete linear prediction model, designing an objective function and constraint conditions of a model prediction controller, and calculating and outputting a physical quantity for controlling the motion of the vehicle according to an expected path. The expected lane-changing path planned according to the vehicle lane-changing path tracking control method improves the comfort of a driver. Control quantities comprise a driving force and a front wheel steering angle of vehicle driving so as to ensure high-precision vehicle speed control while satisfying the lateral lane-changing requirements. The robustnessof control tracking is high, and the control precision is high, so that lateral tracking errors can be effectively reduced.

    本发明公开了一种基于模型预测的车辆换道轨迹跟踪控制方法,属于智能车辆控制技术领域。本发明应用在车辆高级驾驶辅助系统上,包括:建立基于正反梯形横摆角加速度的换道期望轨迹模型;对换道车辆进行受力分析,建立三自由度车辆动力学模型;将非线性的三自由度车辆动力学模型转化为离散线性预测模型,设计模型预测控制器的目标函数和约束条件,根据期望轨迹来计算输出控制车辆运动的物理量。本发明规划的换道期望轨迹提高了驾驶员舒适性,控制量包括汽车行驶的驱动力和前轮转角,满足横向换道需求的同时,可保证较高精度的车速控制,控制跟踪的鲁棒性较强,控制精度较高,可有效减小横向跟踪误差。


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    Title :

    Vehicle lane-changing path tracking control method based on model prediction


    Additional title:

    一种基于模型预测的车辆换道轨迹跟踪控制方法


    Contributors:
    ZHANG HUI (author) / DAI HUAQIANG (author) / FENG MINJIAN (author)

    Publication date :

    2020-12-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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