基于模型预测控制的规避转向控制

2019 Australian & New Zealand Control Conference (ANZCC) Pub Date : 2019-11-01 DOI:10.1109/anzcc47194.2019.8945661

Yeayoung Park, Hyun-Sik Nam, C. Ahn

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引用次数: 1

摘要

MPC中通常嵌入的转向控制模型是车辆动力学模型，而不是转向动力学模型，因为这种转向动力学在通常的机动中是可以忽略的。然而，当机动需要高角速度时，需要考虑转向系统的动力学。因此，本文提出了包括转向和车辆模型在内的MPC模型，可以提供干扰和电压的信息。

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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Evasive Steering Control using Model Predictive Control

The usual model embedded in MPC for steering control is vehicle dynamics without steering dynamics because such steering dynamics are ignorable in usual maneuvers. However, the dynamics of the steering system need to consider when a maneuver requires high angular velocity. Therefore, this paper proposes MPC model include steering and vehicle model that can provide information on disturbances and voltage.

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来源期刊

2019 Australian & New Zealand Control Conference (ANZCC)

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