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Path tracking method of semi-trailer train based on model predictive control

A model predictive control, technology of automobile trains, applied in the field of path tracking of semi-trailer automobile trains

Active Publication Date: 2020-08-14
JILIN UNIV
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Problems solved by technology

[0003] The invention provides a method for tracking the path of a semi-trailer train based on model predictive control, and realizes the path tracking of the semi-trailer by controlling the front wheel angle of the tractor to ensure that the semi-trailer does not collide with the road boundary

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  • Path tracking method of semi-trailer train based on model predictive control
  • Path tracking method of semi-trailer train based on model predictive control
  • Path tracking method of semi-trailer train based on model predictive control

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Embodiment Construction

[0101] The present invention is described in detail below in conjunction with accompanying drawing:

[0102] The present invention proposes a path tracking method for semi-trailer trains based on model predictive control, such as figure 1 As shown, the semi-trailer train is composed of a tractor and a semi-trailer, and the tractor and semi-trailer are articulated through the fifth wheel. This method makes the semi-trailer as fast as possible under the condition of considering the kinematic constraints of the semi-trailer train and the physical constraints of the actuator It is possible to drive along the centerline of the road, and at the same time reduce the control action of the actuator as much as possible to achieve the purpose of energy saving. It is characterized in that the specific steps of this method are as follows:

[0103] Step 1. Establish vehicle-road relationship model:

[0104] Establish the earth coordinate system, the origin O is fixed at the center of mass...

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Abstract

The invention discloses a path tracking method of a semi-trailer train based on model predictive control. The method comprises the following steps of 1, establishing a vehicle road relationship model;2, establishing a semi-trailer kinematic model and a semi-trailer train three-degree-of-freedom kinetic model; 3, designing a semi-trailer train path tracking controller by adopting a model prediction method; and 4, solving a constraint optimization problem and executing the problem. The semi-trailer train path tracking controller is established, and a running state of the semitrailer can be predicted; compared with manual driving, by using the method of the invention, a problem that a driver responds slowly to the running state of the semitrailer due to a hinged structure of a tractor and the semitrailer is solved, a response speed is higher, and the safety of the semi-trailer train is improved; and according to a control target of the method, the control target with small lateral displacement deviation and a small control quantity is added so that an overlarge lateral accelerated speed of the semitrailer can be avoided to a certain extent, and a possibility of rollover of the semitrailer is reduced.

Description

technical field [0001] The invention belongs to the technical field of autonomous driving, and relates to a path tracking control method for a semi-trailer train, in particular to a path tracking method for a semi-trailer train based on model predictive control. Background technique [0002] Semi-trailer trains are widely used in logistics transportation all over the world due to their high efficiency and low cost. With the emergence of unmanned docks and the rapid development of the logistics industry, people have raised the need for more efficient and safer logistics and transportation. At the same time, the development of unmanned driving technology has brought new opportunities to improve the transportation efficiency and safety of semi-trailer trains. Since it does not require a driver and can work uninterrupted for a long time, driverless semi-trailer trains have great advantages in improving the efficiency of logistics transportation. However, there are few studies ...

Claims

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Application Information

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IPC IPC(8): B60W50/00B60W60/00
CPCB60W50/00B60W60/0016B60W2050/0034B60W2300/145B60W2552/00B60W2420/403
Inventor 郭洪艳赵小明张永达孟庆瑜刘俊赵伟刘畅
Owner JILIN UNIV
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