基于模型预测控制的汽车操纵逆问题研究

doi:10.16182/j.issn1004731x.joss.201801040

摘要/Abstract

摘要： 为解决汽车操纵动力学研究往往存在驾驶员建模难的问题,提出一种汽车操纵逆动力学研究方法。基于模型预测控制(MPC)方法,以驾驶员对汽车施加的转角输入为控制变量,以精确地跟踪给定的路径为控制目标,将汽车操纵逆动力学中的高速情况下完成给定路径跟踪的最优控制问题转化为二次规划问题,并利用有效集法求解。计算结果表明,模型预测控制方法在求解多控制变量和多复杂约束的车辆运行轨迹的最佳转向输入问题时具有较高计算精度的优势,能够控制车辆在高速情况下完成给定路径的跟踪。该方法能够用于汽车超车换道操纵性能的分析。

关键词: 主动安全性, 车辆系统动力学, 逆问题, 模型预测控制

Abstract: In order to solve the problem that driver modeling is difficult in vehicle handling dynamics, a study method of vehicle handling inverse dynamics is proposed. Based on model predictive control (MPC), the steering angle input is used as the control variable and the control object is to track the desired path. The optimal control problem of tracking the given path with high speed in vehicle handling inverse dynamics is converted into a secondary planning problem which is then solved by the active set method. The results show that the model predictive control has the advantage of high computing precision in solving the optimal steering input of vehicle’s running track in condition of multi control variables and multi complex constraints. The method can be applied for tracking the given path with high speed and analyzing the vehicle’s maneuverability while overtaking.

Key words: active safety, vehicle system dynamics, inverse problem, model predictive control

中图分类号:

U461

刘英杰, 刘云, 郭姗姗. 基于模型预测控制的汽车操纵逆问题研究[J]. 系统仿真学报, 2018, 30(1): 304-310.

Liu Yingjie, Liu Yun, Guo Shanshan. Study on Vehicle Handling Inverse Dynamics Based on Model Predictive Control Theory[J]. Journal of System Simulation, 2018, 30(1): 304-310.

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