关键词: 车辆动力学, 主动安全性, 换道, 模型预测控制, 驾驶员行为

Abstract:

As the traditional control methods are infeasible in dealing with multiple constraints in the lane- changesteering maneuver process,the model predictive control (MPC) method is adopted to solve the inverse dynamics forlane- change steering maneuver.In the investigation,the steering angle input is used as the control variable,theoptimal trajectory to complete the collision avoidance process of lane- change steering maneuver is taken as the con-trol objective,and the optimal control problem is converted into a quadratic programming problem,which is thensolved via the active set method.Simulated results show that the proposed method based on MPC is of potential ad-vantage for calculating the optimal steering input of vehicle trajectory with heavy computational complexity and mul-tiple constraints,and that it is effective in solving the inverse dynamics for the lane- change steering maneuver.

Key words: vehicle dynamics, active safety, lane change, model predictive control, driver behavior