Dual predictive model adaptive switching control for directional control of tractor semitrailer combinations

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Advances in Mechanical Engineering Pub Date : 2023-08-01 DOI:10.1177/16878132231189311

Xiaobing Chen, Yao Qiang

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引用次数: 0

Abstract

In order to ensure that safety and reliability of tractor semitrailer combinations (TSCs) on the road, the human drivers’ steering decisions need to comprehensively consider the trajectories and states of the tractor and semitrailer. For this purpose, a dual predictive model adaptive switching control decision for directional control is proposed. Firstly, a multi-point preview algorithm and a general regression neural network are designed to percept the current local target paths for the tractor and semitrailer. Then, a kinematic predictive model control algorithm for low-speed path tracking control and a dynamic predictive model control algorithm for high-speed path following and lateral stability control are established respectively. In addition, an S-type switching function is introduced to realize smooth switching between the two control algorithms. Finally, the directional control decision in this study is validated by the numerical simulations under different conditions and compared with single-point preview driver and the MPC driver without considering semitrailer. The results show that the proposed approach can accurately track the target path and effectively improve the high-speed lateral stability.

查看原文本刊更多论文

牵引车半挂车组合方向控制的双预测模型自适应切换控制

为了保证牵引车和半挂车在道路上行驶的安全性和可靠性，驾驶员的转向决策需要综合考虑牵引车和半挂车的行驶轨迹和状态。为此，提出了一种用于方向控制的双预测模型自适应开关控制决策。首先，设计了多点预览算法和广义回归神经网络来感知当前牵引车和半挂车的局部目标路径;然后，分别建立了用于低速路径跟踪控制的运动学预测模型控制算法，以及用于高速路径跟随和横向稳定控制的动态预测模型控制算法。此外，引入s型切换函数，实现两种控制算法之间的平滑切换。最后，通过不同条件下的数值模拟验证了本文的方向控制决策，并与单点预告驱动和不考虑半挂车的MPC驱动进行了比较。结果表明，该方法能准确跟踪目标路径，有效提高高速横向稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advances in Mechanical Engineering 工程技术-机械工程

CiteScore

3.60

自引率

4.80%

发文量

353

审稿时长

6-12 weeks

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering