Anti-jackknife reverse perpendicular parking control of tractor-trailer vehicle via MPC technique

被引：0

作者：

Fan, Minglei ^{[1
]}

Yue, Ming ^{[1
,2
]}

Zhang, Hongzhi ^{[1
]}

Liu, Zhiyuan ^{[1
]}

机构：

[1] Dalian Univ Technol, Sch Automot Engn, Dalian 116024, Peoples R China

[2] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1109/cyber46603.2019.9066754

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a jackknife avoidance trajectory tracking control strategy for tractor-trailer vehicle is proposed based on constrained Model Predictive Control (MPC) in the process of reversing perpendicular parking Firstly, a critical hitch angle is provided for jackknife avoidance and collision free constraint, through analyzing the influencing factors of the size and stability of the vehicle hitch angle. Next, the conundrums of preventing collision and avoiding jackknife are converted into constraint problem. Therefore, the jackknife and collision problem of tractor-trailer could be solved by using MPC algorithm with the advantage of being able to handle multiple constraints issues. Finally, the simulation results illustrate that the presented control strategy plays an expected role during reversing process of this kind of complicated vehicle system.

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页码：1138 / 1143

页数：6