An existing controller is poor in tracking capability and stability. The invention provides a traction type trailer obstacle avoidance control method. The method comprises the steps that S1, a traction type trailer steering and differential braking integrated tracking model is constructed; s2, establishing a trajectory tracking control algorithm, taking position errors between the tractor and the semitrailer and a target trajectory as state input, and taking front wheel rotation angles of the tractor and the semitrailer, the yaw moment of the tractor and the yaw moment of the semitrailer as control quantity output; solving a state-space equation according to the steering and differential braking integrated tracking model, discretizing the state-space model to obtain a discrete state-space model, and taking the discrete state-space model as a prediction model to obtain a relationship among an output quantity, a state quantity and a control quantity in a prediction time domain; setting a target function according to the relation between the output quantity, the state quantity and the control quantity in the prediction time domain; and S3, solving the constrained objective function to obtain the optimal control quantity output. And the tracking capability and stability of the vehicle to the large-curvature obstacle avoidance trajectory are improved.
现有控制器跟踪能力和稳定性差。本申请提供了一种牵引式挂车避障控制方法,S1、构建牵引式挂车转向与差动制动集成跟踪模型;S2、建立轨迹跟踪控制算法,以牵引车和半挂车与目标轨迹的位置误差作为状态输入,以牵引车和半挂车的前轮转角、牵引车横摆力矩、半挂车横摆力矩作为控制量输出;根据转向与差动制动集成跟踪模型求得状态空间方程,将状态空间模型离散化得到离散状态空间模型,将离散状态空间模型作为预测模型得到预测时域内输出量与状态量、控制量的关系,根据预测时域内输出量与状态量、控制量关系设立目标函数;S3、对带约束目标函数进行求解得到最优控制量输出。提高了车辆对大曲率避障轨迹的跟踪能力和稳定性。
Obstacle avoidance control method of traction type trailer
一种牵引式挂车的避障控制方法
2023-07-14
Patent
Electronic Resource
Chinese
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 |
Active obstacle avoidance control method for intelligent semi-trailer train
European Patent Office | 2023
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