Abstract:

For the problem of insufficient path tracking accuracy of autonomous trucks compared to ordinary passenger cars， which are caused by greater model uncertainty， actuator deviation and external influencing factors such as curvature disturbances， a hierarchical control method based on Robust Model Predictive Control （RMPC） is proposed in this paper. Firstly， based on the incremental steering control error model， according to the deviation between the actual vehicle system and the nominal model， a robust control law is designed and the upper-level multi-objective constraint RMPC controller is constructed to improve the tracking accuracy. Then， to solve the problem of insufficient steering and positioning error of the autonomous trucks， the lower-level steer compensator and the state estimator based on median filter are designed to improve the steering response and the vehicle stability. Finally， the results of TruckSim/Simulink co-simulation and real vehicle tests show that the proposed control method can effectively deal with model mismatch and uncertain disturbances， and has good robustness and adaptability.

Key words: autonomous truck, path tracking, RMPC, steer compensation, state estimation