Path Tracking And Anti-roll Adaptive Control For Commercial Vehicles

With the gradual maturity and commercialization of autonomous driving technology,commercial vehicles,which are the main force of road transportation,have the advantages of applying autonomous driving over passenger cars driving in complex urban environments.Path tracking control and the safety issue is an important part of autonomous driving technology.Due to the complex loading state,large changes in the parameters of the front and rear structures,and the high center of mass of commercial vehicles,the vehicle tracking accuracy decreases and the roll stability deteriorates under the high-speed path tracking condition.This paper proposes a path tracking and anti-roll collaborative control strategy based on Model Prediction Control(MPC)that automatically adjusts the roll stability state of the vehicle during high-speed path tracking to solve the coupling problem of commercial vehicle path tracking and roll stability.The MPC prediction model is established based on the commercial vehicle dynamics model and the path tracking error model,and for the accuracy of the model,the linear side bias stiffness of the tire is estimated based on the recursive least squares method and the model is verified.The rollover mechanism of the vehicle was analyzed,the roll index of zero moment point(ZMP)and load transfer rate(LTR)was derived,and the time to stable(TTS)index was proposed,and the joint stability criterion of different roll states of the vehicle was established.Based on the prediction model and predicted roll index,a model predictive control algorithm with feedback control is designed,which converts the optimization of different control targets of path tracking and roll into quadratic problems,adopts multi-objective interactive genetic algorithm to optimize the weight coefficient of control targets,establishes the weight function of roll index in optimization problems,and constrains the actuator and driving environment to realize the collaborative control of path tracking and roll stability.Simulink and Truck SIM joint simulation platform was used to verify the control system,which proved that it had good tracking effect and roll stability during high-speed path tracking,and verified the adaptability of the control system in complex road environments.