基于模型预测控制的转向与制动组合防撞控制方法

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2024-04-30 DOI:10.1007/s12239-024-00044-4

Shaosong Li, Detao Li, Han Wang, Yanbo Jiang, Gaojian Cui

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引用次数: 0

摘要

本文提出了一种基于模型预测控制的转向和制动组合防撞控制方法。这种方法可以克服单一转向或制动防撞的局限性，提高车辆在极端复杂条件下的安全性和跟踪性能。在设计模型预测控制（MPC）优化目标时，考虑了轮胎力的利用率、路径跟踪性能和行驶稳定性。此外，还将前轮角度和四轮制动扭矩作为优化变量。仿真结果表明，所提出的方法可以大大提高车辆的路径跟踪性能和行驶稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Combined Steering and Braking Collision Avoidance Control Method Based on Model Predictive Control

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Combined Steering and Braking Collision Avoidance Control Method Based on Model Predictive Control

A combined steering and braking collision avoidance control method based on model predictive control is proposed in the present paper. This method can overcome the limitations of single steering or braking collision avoidance and improve vehicle safety and tracking performance in extremely complex conditions. The utilization rate of tire force, path tracking performance, and driving stability are considered in the design of the model predictive control (MPC) optimization objective. In addition, the front wheel angle and four-wheel braking torque are taken as the optimization variables. Simulation results showed that the proposed method can greatly improve the path tracking performance and driving stability of vehicles.

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.