摘要
提出一种越野地形下智能车辆的动力学建模与轨迹跟踪控制方法.针对越野地形建立了考虑路面倾角的智能车辆动力学模型,并推导了基于零力矩点的车辆侧倾安全约束.然后考虑上述车辆动力学模型及安全约束条件,设计了基于模型预测的智能车辆轨迹跟踪控制器.仿真试验表明该方法可以有效地适应复杂的越野地形,并能够在实现无碰撞轨迹的同时防止车辆发生侧翻危险.
The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented.First,a vehicle dynamic model considering the road bank angle was developed.And then a zero-moment-point based rollover constraint was derived.Taking these vehicle dynamics and safety constraints into account,a model predictive based intelligent vehicle trajectory tracking controller was designed.Simulation results show that the proposed method can effectively adapt to the complex off-road terrains,ensuring collision-free trajectories while preventing rollover hazard.
作者
刘凯
王威
龚建伟
陈慧岩
陈舒平
LIU Kai;WANG Wei;GONG Jian-wei;CHEN Hui-yan;CHEN Shu-ping(School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2019年第9期933-937,共5页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(91420203,61703041)
中央高校基本科研业务费专项资金资助项目
关键词
智能车辆
越野地形
动力学建模
模型预测控制
intelligent vehicle
off-road environment
dynamic modeling
model predictive control
