Study on Vehicle Handling Inverse Dynamics Based on Model Predictive Control Theory

doi:10.16182/j.issn1004731x.joss.201801040

Abstract

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

CLC Number:

U461

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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