Journal of South China University of Technology (Natural Science Edition) ›› 2013, Vol. 41 ›› Issue (11): 120-124.doi: 10.3969/j.issn.1000-565X.2013.11.020

• Automotive Engineering • Previous Articles     Next Articles

Solving of Inverse Dynamics for Lane- Change Steering Maneuver Based on Model Predictive Control

Liu Ying- jie Zhao You- qun   

  1. College of Energy and Power Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,Jiangsu,China
  • Received:2013-04-11 Revised:2013-06-05 Online:2013-11-25 Published:2013-10-11
  • Contact: 赵又群(1968-)，男，教授，博士生导师，主要从事车辆系统动力学研究． E-mail:yqzhao@nuaa.edu.cn
  • About author:刘英杰(1982-)，男，博士生，主要从事车辆系统动力学研究．E-mail:ufoliuyingjie@163．com
  • Supported by:

    国家自然科学基金资助项目(11072106)

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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