基于改变控制时域时间步长的智能车轨迹跟踪控制

doi:10.13229/j.cnki.jdxbgxb.20220542

Abstract

Abstract:

In order to solve the intelligent vehicle trajectory tracking controller based on model predictive control with long processing time and low real-time performance， a model predictive trajectory tracking control method based on variable step size in the control time domain was proposed using matrix-blocking strategy. The matrix-blocking method was used to change the control time domain step size and integrated into the quadratic programming solution process of model predictive control， and the objective function and system constraints were reconstructed to reduce the number of variables to be solved in the optimal control sequence during the solution process， and the calculation time are also be reduced. Based on Simulink and CarSim co-simulation platform， the proposed method was compared with the traditional model predictive control method. The results demonstrate that compared with the traditional model predictive control method， the proposed method not only reduces the average calculation time by 24.39% and the maximum single calculation time by 45.05%， but also ensuring the trajectory tracking accuracy. The performance of the controller using the dense before sparse block matrix is better than the average block matrix.

Key words: vehicle engineering, intelligent vehicle, adjusting the step size of control horizon, model predictive control, trajectory tracking, matrix blocking

CLC Number:

U461.6

Xian-yi XIE,Yu-han WANG,Li-sheng JIN,Xin ZHAO,Bai-cang GUO,Ya-ping LIAO,Bin ZHOU,Ke-qiang LI. Intelligent vehicle trajectory tracking control based on adjusting step size of control horizon[J].Journal of Jilin University(Engineering and Technology Edition), 2024, 54(3): 620-630.

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参数	数值
整车质量/kg	1704.7
横摆转动惯量/（kg·m²）	3048.1
侧倾转动惯量/（kg·m²）	744
簧载质量转动惯量积/（kg·m²）	21.09
前轴到质心的距离/m	1.035
后轴到质心的距离/m	1.655
前、后轴轮距/m	1.535
前轴侧倾刚度/（N·m·rad^-1）	2 328
后轴侧倾刚度/（N·m·rad^-1）	2 653
前轴侧倾阻尼/（N·m·s·rad^-1）	47 298
后轴侧倾阻尼/（N·m·s·rad^-1）	37 311
前轮侧偏刚度（N·rad^-1）	31 106.98
后轮侧偏刚度（N·rad^-1）	29 584.56
车轮转动惯量/（kg·m²）	0.9
车轮滚动半径/m	0.313

参数	基于分块矩阵 I₁的MPC	传统MPC
平均计算时间/s	0.0031	0.0041
单次最大计算时间/s	0.0061	0.0111

参数	基于分块矩阵 I₁的MPC	基于分块矩阵 I₃的MPC
平均计算时间/s	0.0031	0.0032
单次最大计算时间/s	0.0061	0.0062

参数	基于分块矩阵 I₁的MPC	传统MPC（N_c=4）
平均计算时间/s	0.003 11	0.003 34
单次最大计算时间/s	0.006 1	0.006 8

Intelligent vehicle trajectory tracking control based on adjusting step size of control horizon

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