关键词: 智能汽车, 模型预测控制, 侧倾稳定性, 路径跟踪, 力驱动

Abstract: In order to improve the path tracking control accuracy of intelligent vehicles and ensure vehicle yaw stability and roll stability, a MPC path tracking control strategy based on force drive coordinating optimal front tires lateral force and external yaw moment is proposed under high-speed and large curvature extreme conditions. Aiming at taking full advantage of the non-linear dynamics of tires and improving the response characteristics of the controller, a vehicle state prediction equation based on a time-varying linear tire model is established to predict vehicle states at the MPC control frame. The zero-point moment method is used to ensure the vehicle roller stability at the limit of handling, and the anti-roll MPC path tracking controller is designed based on time-varying state space equation of path tracking control system. In order to verify the effectiveness of the proposed control strategy, experiments were carried out through the CarSim and Matlab/Simulink joint platform. The results show that the controller can ensure the yaw stability and roll stability of the vehicle and reduce the maximum lateral position deviation and heading angle deviation by 14.08% and 4.80%, respectively.

Key words: intelligent vehicle, model predictive control, roll stability, path tracking, force drive