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

Abstract

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

CLC Number:

TP273

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.

Figures/Tables 6

Fig.1

Table 1

Parameters of controller"

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

Table 1

Fig.2

Fig.3

Fig.4

Fig.5

References 26

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