Path Tracking Strategy for All-Wheel Steering of Multi-axle Heavy-Duty Vehicles Based on Tube MPC

被引：0
|
作者：
Wang W. [1 ]
Li J. [1 ]
Sun F. [1 ]
Song J. [1 ]
Wu Y. [1 ]
机构：
[1] Beijing Institute of Technology, National Engineering Research Center for Electric Vehicle, Beijing
来源：
Qiche Gongcheng/Automotive Engineering | 2022年 / 44卷 / 11期
关键词：
all-wheel steering; five-axle heavy-duty vehicle; minimum robust positively invariant set; path tracking; Tube MPC;
D O I：
10.19562/j.chinasae.qcgc.2022.11.005
中图分类号：
学科分类号：
摘要：
An all-wheel steering path tracking strategy based on model predictive control with robust invariant set is proposed for a five-axle heavy-duty vehicle in this paper. Firstly，an all-wheel steering path tracking strategy based on first-axle and fifth-axle steering angle control is put forward to make the multi-axle vehicle more flexible in control，with the lateral force response synchronized and fully utilized. Then with considerations of the uncertainty of tire parameters and the bounded disturbance caused by side-wind in the control model，the Tube MPC is used to solve the path tracking problem. Meanwhile，a simplified minimum robust positively invariant set（mRPI）based on support function calculation is adopted to replace the general Minkowski sum-based mRPI operation，effectively saving the offline computation time of mRPI，reducing the number of vertices in the invariant set，and ensuring the online implementation of Tube MPC. Finally，a hardware-in-the-loop simulation is carried out with a result verifying that the Tube MPC-based all-wheel steering strategy proposed has higher path tracking accuracy and vehicle stability and stronger robustness when facing unknown disturbance，compared with ordinary all-wheel steering strategy. © 2022 SAE-China. All rights reserved.
引用
收藏
页码：1665 / 1675+1715
相关论文
共 17 条
  • [1] Yan ZOU, Ningyuan GUO, ZHANG Xudong, An integrated control strategy of path following and lateral motion stabilization for autonomous distributed drive electric vehicles［J］, Proceedings of the Institution of Mechanical Engineers，Part D：Journal of Automobile Engineering, (2019)
  • [2] Chongfeng WEI, Richard ROMANO, Natasha MERAT, Et al., Risk-based autonomous vehicle motion control with considering human driver’s behavior［J］, Transportation Research Part C：Emerging Technologies, 107, pp. 1-14, (2019)
  • [3] Kwanwoo PARK, Kyongsu YI, Rear-wheel steering control for enhanced steady-state and transient vehicle handling characteristics［J］, IEEE Access, 8, (2020)
  • [4] SABBIONI E., A cooperative control strategy for yaw rate and sideslip angle control combining torque vectoring with rear wheel steering［J］, Vehicle System Dynamics, (2021)
  • [5] Yong CHEN, Sizhong CHEN, Hongbin REN, Et al., Path tracking and handling stability control strategy with collision avoidance for the autonomous vehicle under extreme conditions［J］, IEEE Transactions on Vehicular Technology, 69, 12, pp. 14602-14617, (2020)
  • [6] PENG Bo, LI Junqiu, SUN Fengchun, Et al., Research on differential drive steering control strategy for rear axles of multi-Axle distributed electric drive vehicle［J］, Automotive Engineering, 42, 7, pp. 909-916, (2020)
  • [7] GALVANI M, BIRAL F, NGUYEN B M, Et al., Four wheel optimal autonomous steering for improving safety in emergency collision avoidance manoeuvres［C］, IEEE International Workshop on Advanced Motion Control, (2014)
  • [8] Toshihiro HIRAOKA, Osamu NISHIHARA, Hi-romitsu KUMAMOTO, Automatic path-tracking controller of a four-wheel steering vehicle［J］, Vehicle System Dynamics, 47, 10, pp. 1205-1227, (2009)
  • [9] Ningyuan GUO, Lenzo BASILIO, Xudong ZHANG, Et al., A real-time nonlinear model predictive controller for yaw motion optimization of distributed drive electric vehicles［J］, IEEE Transactions on Vehicular Technology, 69, 5, pp. 4935-4946, (2020)
  • [10] ZHANG X，, Et al., Path tracking controller design for autonomous vehicle based on robust tube MPC［J］, International Journal of Vehicle Design, (2020)
12