非结构化道路下离轴式拖挂车辆主动避障控制研究

doi:10.19562/j.chinasae.qcgc.2023.12.014

Abstract

Abstract:

To achieve active obstacle avoidance of off axis-towed vehicles on unstructured road， an active obstacle avoidance controller based on model predictive control （MPC） without the support of global path and path tracker is proposed. Firstly， a kinematic model of the towing system for coupling fuller trailer based on rigid-body kinematics and incomplete restraints is established， and its motion characteristics are analyzed and verified. Secondly， according to the kinematic model of the trailer system， the prediction model of the off-axle trailer vehicle is established. Finally， a penalty function for turning collision avoidance without global path support is proposed， and an objective function is designed for the safety and stability of the trailer system， which is optimized by a nonlinear solver， with the optimal output discrete control sequence applied to the trailer system. Simulation and real vehicle experiments show that the active obstacle avoidance controller of the off-axis towing system can make the towing vehicle avoid obstacles safely on the premise of meeting the shear collision constraint. Besides， lateral error and heading error of obstacle avoidance path and shortest non-obstacle avoidance path of full trailer can be reduced.

Key words: off-axle type trailer, unstructured road, MPC, active obstacle avoidance, full trailer

Dandan Hu,Pengfei Yin,Guochen Niu,Jinju Zhao. Research on Active Obstacle Avoidance Control of Off-axis Trailing Vehicle on Unstructured Road[J].Automotive Engineering, 2023, 45(12): 2318-2329.

Figures/Tables 30

参数

数值

牵引车轴距 $L 1 / m$

全挂车轴距 $L 3 / m$

牵引车后轴中点到铰接点距离 $M 1 / m$

全挂车前轴中点到铰接点距离 $L 2 / m$

牵引车宽 $d / m$

牵引车长 $l / m$

全挂车宽 $d r / m$

全挂车长 $l r / m$

最大前轮转角 $δ m a x / r a d$

最大剪切角 $Δ θ m a x / r a d$

最大加速度 $a m a x / (m · s - 2)$

2.49

1.90

0.60

1.30

1.66

3.63

2.20

3.20

0.39

2.198

1.00

参数

数值

预测时域 $N p$

控制时域 $N c$

控制器采样间隔T/s

正数 $ε$

障碍物碰撞膨胀距离r_s/m

障碍物半径r_o/m

$ω o$ 、 $ω p$ 、 $ω u$ 、 $ω d$

0.2

10^-6

0.3

0.7

10⁵、350、100、0.7

参数

数值

牵引车轴距 $L 1 / m$

全挂车轴距 $L 3 / m$

牵引车后轴中点到铰接点距离 $M 1 / m$

全挂车前轴中点到铰接点距离 $L 2 / m$

牵引车宽 $d / m$

牵引车长 $l / m$

全挂车宽 $d r / m$

全挂车长 $l r / m$

角传动比

前轮转角变化速度/（ $r a d · s - 1$ ）

预测时域 $N p$

控制时域 $N c$

最大前轮转角 $δ m a x / r a d$

控制器采样间隔T/s

正数 $ε$

障碍物碰撞膨胀距离r_s/m

障碍物半径r_o/m

$ω o$ 、 $ω p$ 、 $ω u$ 、 $ω d$

2.49

1.90

0.60

1.30

1.66

3.63

2.20

3.20

15.7

0.33

0.39

0.20

10^-6

0.70

0.40

10⁵、400、10、0.50

References 20

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Research on Active Obstacle Avoidance Control of Off-axis Trailing Vehicle on Unstructured Road

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