MPC-Based Obstacle Avoidance Path Tracking Control for Distributed Drive Electric Vehicles
Abstract
:1. Introduction
2. Path Planning
3. Path Tracking Control
3.1. Establishment of Vehicle Dynamics Model
3.2. MPC Controller Design
3.3. Torque Distribution Controller Design
4. Simulation Analysis and Verification
4.1. Verification of Co-Simulation Platform
4.2. Simulation of Tracking Control Performance
5. Conclusions
- (1)
- Sixth-order polynomial for obstacle avoidance path planning is presented. Through the simulation results, it is verified that the planned path can be accurately tracked, and the LTR values are always within the safe range. The vehicle has no risk of rollover. The obstacle avoidance path and tracking controller in this paper can effectively meet the requirements of safe obstacle avoidance.
- (2)
- In this paper, path planning, path tracking and torque distribution are combined to achieve safe obstacle avoidance through the tracking control of the obstacle avoidance path. The path-tracking controller not only realizes the intelligent obstacle avoidance process of unmanned vehicles but also combines it with distributed vehicles. The safety and stability are improved by the torque distribution strategy in the obstacle avoidance process compared with traditional vehicles. Simultaneously, simulations are carried out under different road adhesion coefficient conditions, and the simulation results show that the vehicle can still perform safe and stable automatic obstacle avoidance under the conditions of road adhesion coefficient μ = 0.2, indicating that the controller has good robustness.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Parameter Name | Value |
---|---|
Nc | 8 |
Np | 25 |
−0.02 | |
0.2 | |
−0.25 g | |
0.25 g | |
Q | [2000 0; 0 2000] |
R | [3000 0; 0 1] |
Parameters | Value |
---|---|
Vehicle sprung mass | 1743 |
Vehicle mass m/kg | 1907 |
Moment of inertia | 3246.9 |
front wheelbase /m | 1.33 |
rear wheelbase /m | 1.81 |
The height of the center of mass above the ground h/m | 0.781 |
Wheeltrack b/m | 2.029 |
Lateral stiffness of front wheels | 116,050 |
Lateral stiffness of rear wheels | 104,590 |
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Wu, H.; Zhang, H.; Feng, Y. MPC-Based Obstacle Avoidance Path Tracking Control for Distributed Drive Electric Vehicles. World Electr. Veh. J. 2022, 13, 221. https://doi.org/10.3390/wevj13120221
Wu H, Zhang H, Feng Y. MPC-Based Obstacle Avoidance Path Tracking Control for Distributed Drive Electric Vehicles. World Electric Vehicle Journal. 2022; 13(12):221. https://doi.org/10.3390/wevj13120221
Chicago/Turabian StyleWu, Hongchao, Huanhuan Zhang, and Yixuan Feng. 2022. "MPC-Based Obstacle Avoidance Path Tracking Control for Distributed Drive Electric Vehicles" World Electric Vehicle Journal 13, no. 12: 221. https://doi.org/10.3390/wevj13120221