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Pull-type trailer trajectory tracking method based on model predictive control

A technology of model predictive control and trajectory tracking, used in adaptive control, general control systems, control/regulation systems, etc.

Active Publication Date: 2020-05-08
CHONGQING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Among them, how to accurately track its path is still a challenging problem

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  • Pull-type trailer trajectory tracking method based on model predictive control
  • Pull-type trailer trajectory tracking method based on model predictive control
  • Pull-type trailer trajectory tracking method based on model predictive control

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Embodiment Construction

[0093] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic concept of the present invention, and the following embodiments and the features in the embodiments can be combined with each other in the case of no conflict.

[0094] see Figure 1 ~ Figure 4 , figure 1 It is an overall schematic diagram of the MPC-based tractor-trailer trajectory tracking method of the present inv...

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Abstract

The invention relates to a pull-type trailer trajectory tracking method based on model predictive control, and belongs to the field of trajectory tracking control in unmanned driving. The method comprises the following steps: S1, constructing a transverse kinetic model and an error model of a pull-type trailer; S2, carrying out predictive control on a transverse tracking model of the pull-type trailer by adopting MPC; and S3, with the front wheel deflection angle of the pull-type trailer as the control quantity, achieving tracking driving of the pull-type trailer on an expected path. Accordingto the invention, the MPC is used to carry out accurate tracking control on the dynamic model and the error model of the pull-type trailer. The established transverse tracking model simulates a realdriving environment, has robustness to curvature change of a road, and can ensure tracking precision and stability at the same time. Unmanned driving of the pull-type trailer can be further achieved,and traffic accidents are reduced while the freight transport efficiency is improved.

Description

technical field [0001] The invention belongs to the field of trajectory tracking control in unmanned driving, and relates to an MPC-based traction trailer trajectory tracking method. Background technique [0002] With the development of our country's economy, higher requirements are put forward for the transportation of goods. How to improve the efficiency of goods transportation and reduce the occurrence of traffic accidents is an urgent research and solution. At present, tractor trailers are the main force of domestic cargo transportation, and their future development trend will directly affect the efficiency of cargo transportation. In addition, at this stage, domestic tractor-trailer companies generally have problems such as low technical content and lack of technological innovation. Therefore, in order to meet the requirements of cargo transportation, it is necessary to accelerate the development of tractor trailers in the direction of intelligence, specialization and ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 唐小林阳鑫杨凯胡晓松谢翌李佳承
Owner CHONGQING UNIV