| 摘 要: 为了探究不同参数对采用MPC(Model Predictive Control)控制的车辆定速巡航功能的影响,建立了车辆横向控制模型。首先对车辆动力学MPC模型进行理论推导,得出相应的公式;然后采用Simulink软件搭建闭环模型进行仿真。通过调整不同的参数并对比发现:减小控制前轮转角约束系数的值,会增大车辆的横向偏差和航向角偏差;当道路的曲率改变时,其他参数的调整会引起车辆横向偏差和航向角偏差曲线的振荡。仿真曲线结果表明:前轮转角约束系数是车辆开启功能后能否安全行驶的关键,而其他参数则可以极大地改善车辆的性能,提升行驶时车身的稳定性。 |
| 关键词: 定速巡航;MPC;Simulink |
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中图分类号: TP391.9
文献标识码: A
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| Parameter Analysis of Vehicle Lateral Control Model Software Based on Simulink |
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XING Haitao, LIANG Wei
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(School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China)
haitaoxing2022@126.com; Wei_Liang222@126.com
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| Abstract: In order to explore the impact of different parameters on the cruise control function of vehicles controlled by MPC (Model Predictive Control), this paper proposes to establish a vehicle lateral control model. Firstly, the MPC model of vehicle dynamics is theoretically deduced, and the corresponding formula is obtained. Then, Simulink software is used to build a closed-loop model for simulation. By adjusting different parameters and comparing them, it is found that reducing the value of the constraint coefficient for controlling the steering angle of front wheel will increase the lateral deviation and heading angle deviation of the vehicle. When the curvature of the road changes, adjustments to other parameters can cause oscillations in the lateral deviation and heading angle deviation curves of the vehicle. The simulation curve results indicate that the constraint coefficient of front wheel steering angle is the key to whether the vehicle can be driven safely when the function is turned on, while other parameters can greatly improve the performance of the vehicle and enhance the stability of the body during driving. |
| Keywords: cruise control; MPC; Simulink |
