基于分布式模型预测的商用车队列避障控制

doi:10.13229/j.cnki.jdxbgxb.20240678

吉林大学学报(工学版) ›› 2026, Vol. 56 ›› Issue (1): 247-256.doi: 10.13229/j.cnki.jdxbgxb.20240678

基于分布式模型预测的商用车队列避障控制

李文博¹(),谢华城¹,于树友^1,²,林宝君¹(),陈虹^1,³

^1.吉林大学通信工程学院，长春 130022
^2.重庆邮电大学工业物联网与网络化控制教育部重点实验室，重庆 400065
^3.同济大学电子与信息工程学院，上海 200092

收稿日期:2024-06-18 出版日期:2026-01-01 发布日期:2026-02-03
通讯作者: 林宝君 E-mail:liwb21@mails.jlu.edu.cn;linbj@jlu.edu.cn
作者简介:李文博（1997-），男，博士研究生. 研究方向：多车协同控制，分布式预测控制.E-mail：liwb21@mails.jlu.edu.cn
基金资助:
国家自然科学基金项目(62473167);吉林省自然科学基金项目(20240402079GH);工业物联网与网络化控制教育部重点实验室开放基金项目(2019FF01)

Obstacle avoidance control for truck platoon using distributed model predictive control

Wen-bo LI¹(),Hua-cheng XIE¹,Shu-you YU^1,²,Bao-jun LIN¹(),Hong CHEN^1,³

^1.College of Control Science and Engineering，Jilin University，Changchun 130022，China
^2.The Key Laboratory of Industrial Internet of Things and Networked Control，Chongqing University of Posts and Telecommunications，Chongqing 400065，China
^3.College of Electronics and Information Engineering，Tongji University，Shanghai 200092，China

Received:2024-06-18 Online:2026-01-01 Published:2026-02-03
Contact: Bao-jun LIN E-mail:liwb21@mails.jlu.edu.cn;linbj@jlu.edu.cn

摘要/Abstract

摘要：

针对商用车队列避障控制问题，提出了上层轨迹规划和下层轨迹跟踪的分层控制方法。在上层中，设计了基于滚动时域优化的领航车轨迹规划方法，其中利用粒子滤波算法将求解优化问题转化为概率估计问题，提高了求解效率。在下层中，针对商用车横纵耦合动力学非线性强的特性，本文设计了基于纵横一体化动力学模型的分布式模型预测控制器，提高了控制精度。TruckSim和Matlab/Simulink的仿联合仿真结果表明：设计的双层控制架构能够保证车辆编队实现避障行驶；在多种道路场景下，所设计的分布式模型预测控制器可以有效跟踪规划轨迹。

关键词: 控制理论与控制工程, 商用车队列, 避障控制, 模型预测控制, 车辆耦合特性

Abstract:

For the obstacle avoidance control problem of truck platoons， this paper proposes a hierarchical control method with upper-layer trajectory planning and lower-layer trajectory tracking. In the upper layer， a leader truck trajectory planning method based on model predictive control is designed using a particle filter algorithm， which transforms the optimization problem into a probabilistic estimation problem， thereby improving the solution efficiency. In the lower layer， considering the strong nonlinearity of the coupled longitudinal and lateral dynamics of trucks， a distributed model predictive controller based on an integrated longitudinal-lateral dynamics model is developed to enhance control accuracy. Co-simulation results using TruckSim and Matlab/Simulink demonstrate that the designed two-layer control architecture ensures obstacle-avoidance driving for truck platoons， and in various road scenarios， the proposed distributed model predictive controller effectively tracks the planned trajectory.

Key words: control theory and control engineering, truck platoon, obstacle avoidance control, model predictive control, vehicle coupling characteristic

中图分类号:

TP273

李文博,谢华城,于树友,林宝君,陈虹. 基于分布式模型预测的商用车队列避障控制[J]. 吉林大学学报(工学版), 2026, 56(1): 247-256.

Wen-bo LI,Hua-cheng XIE,Shu-you YU,Bao-jun LIN,Hong CHEN. Obstacle avoidance control for truck platoon using distributed model predictive control[J]. Journal of Jilin University(Engineering and Technology Edition), 2026, 56(1): 247-256.

图/表 6

图1

表1

控制器参数"

参数	数值/单位	参数	数值/单位
$H r$	$5$	$δ m a x$	$35 o$
$T r$	$0.1 ? s$	$N ?$	$8$
$Q r$	$d i a g (100,100,0, 0)$	$α$	$5$
$R r$	$d i a g (10,100)$	$β$	$3$
$δ m i n$	$- 35 o$	$T i, m i n d$	$- 5000 N ? m$
$Q i$	$105 d i a g (10,20,10,130)$	$H p$	$22$
$R i$	$d i a g (107, 10 - 2)$	$T s$	$0.01 ? s$

表1

图2

图3

图4

图5

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基于分布式模型预测的商用车队列避障控制

Obstacle avoidance control for truck platoon using distributed model predictive control

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