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A Path Tracking Method for Semi-trailer Train Based on Model Predictive Control

A model predictive control, car train technology, applied in the path tracking field of semi-trailer car trains, to achieve the effect of avoiding excessive lateral acceleration, fast response speed, and improving safety performance

Active Publication Date: 2022-03-25
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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  • A Path Tracking Method for Semi-trailer Train Based on Model Predictive Control
  • A Path Tracking Method for Semi-trailer Train Based on Model Predictive Control
  • A Path Tracking Method for Semi-trailer Train Based on Model Predictive Control

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Embodiment Construction

[0101] Below in conjunction with accompanying drawing, the present invention is described in detail:

[0102] The 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 consists of a tractor and a semi-trailer, and the tractor and the semi-trailer are articulated through the fifth wheel. In this method, considering the kinematic constraints of the semi-trailer train and the physical constraints of the actuator, the semi-trailer can be fully It is possible to drive along the center line 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 the method are as follows:

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

[0104] Establish a geodetic coordinate system, the origin O is consolidated at the center of mass o of the semi-trailer at t...

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Abstract

The invention discloses a path tracking method of a semi-trailer train based on model predictive control. The first step is to establish a vehicle-road relationship model; the second step is to establish a semi-trailer kinematics model and a three-degree-of-freedom dynamics of a semi-trailer train Model; the third step, using the model prediction method to design the semi-trailer train path tracking controller; the fourth step, solving the constraint optimization problem and executing; the present invention has established a semi-trailer train path tracking controller, which can predict the operation of the semi-trailer state, compared with human driving, there is no problem that the driver is slow to respond to the motion state of the semi-trailer due to the articulated structure of the tractor and the semi-trailer, and the reaction speed is faster, which improves the safety of the semi-trailer train; In the control objectives, by adding control objectives with small lateral displacement deviation and small control amount, the excessive lateral acceleration of the semi-trailer can be avoided to a certain extent, and the possibility of rollover of the semi-trailer train can be 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 prediction control. Background technique [0002] Semi-trailer trains are widely used in logistics and 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 put forward the demand for more efficient and safer logistics transportation. At the same time, the development of driverless 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 and transportation. However, there are few stu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/00B60W60/00
CPCB60W50/00B60W60/0016B60W2050/0034B60W2300/145B60W2420/42B60W2552/00
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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