Adaptive Model Prediction Tracking of Obstacle Avoidance Path Considering Vehicle Stability
In order to improve the accuracy of obstacle avoidance path tracking control under the premise of stable driving,an adaptive model predictive path tracking controller and a stability controller are designed.According to the vehicle motion character-istics,the vehicle dynamics equations with three degrees of freedom in the lateral and yaw directions are established;Based on the need of path tracking control,a preview tracking control model is established.In the aspect of obstacle avoidance path tracking,an adaptive change method of prediction time domain with vehicle speed and path curvature is proposed;In order to improve the accu-racy of obstacle avoidance path tracking and minimize the increment of control quantity,the path tracking control problem is trans-formed into a quadratic problem,and the adaptive optimization solution and time-domain rolling control are realized.In the as-pect of vehicle driving stability,the stability controller is designed from the aspects of stability prediction of vehicle state,calcula-tion and distribution of stability torque.The simulation results show that this method can control the vehicle state in the stable re-gion of the double line method in the phase plane,and realize the stability and safety of vehicle driving;In the aspect of obstacle avoidance path tracking,the maximum tracking error and absolute error mean value of this method are much smaller than the tra-ditional model predictive control and fuzzy sliding mode control in reference[14],which fully proves the high accuracy and effective-ness of this method in obstacle avoidance path tracking control.
Obstacle Avoidance PathModel Prediction ControlAdaptive Prediction Time DomainStability Con-trollerPhase Plane
NETL
NSTL
万方数据
