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A Trajectory Tracking Method of Tractor Trailer Based on Model Predictive Control

A model predictive control and trajectory tracking technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve accurate and stable tracking of driving, improve the efficiency of cargo transportation, and reduce traffic accidents

Active Publication Date: 2022-03-29
CHONGQING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

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

Method used

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  • A Trajectory Tracking Method of Tractor Trailer Based on Model Predictive Control
  • A Trajectory Tracking Method of Tractor Trailer Based on Model Predictive Control
  • A Trajectory Tracking Method of Tractor Trailer 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 trajectory tracking method for a traction type trailer based on model prediction control, and belongs to the field of trajectory tracking control in unmanned driving. The method includes: S1: constructing a lateral dynamics model and an error model of the tractor trailer; S2: using MPC to perform predictive control on the lateral tracking model of the tractor trailer; S3: taking the front wheel slip angle of the tractor trailer as a control amount, to achieve Tracing of a desired path by a tractor-trailer. The present invention uses MPC to accurately track and control the dynamic model and the error model of the tractor-trailer. The established lateral tracking model simulates the real driving environment and is robust to the curvature of the road, which can ensure the accuracy and stability of the tracking at the same time. The invention can further realize the unmanned driving of the tractor-trailer, and reduce the occurrence of traffic accidents while improving the freight efficiency.

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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Patent Type & Authority Patents(China)
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