Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
Driver steering assistance for collision avoidance and turning performance optimization by constrained MPC
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DOI：
10.1299/mej.20-00361
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发表时间：
2021
影响因子：
0.5
通讯作者：
N. Wada;Takuya Matsumoto
中科院分区：
文献类型：
--
作者：
N. Wada;Takuya Matsumoto
本文提出了具有主动前转向系统的车辆的驾驶员转向辅助控制算法。该控制算法的设计是为了优化转弯性能并在前轮转弯角和侧轮胎力的大小约束下同时实现碰撞避免。控制算法是基于模型预测控制定律开发的，用于跟踪随时间变化的参考信号。所提出的控制算法还原为凸二次编程问题。该提出的方法的e ffectiv ness由人类在循环模拟中显示。
A driver steering assistance control algorithm for a vehicle with an active front steering system is proposed in this paper. The control algorithm is designed so as to optimize turning performance and realize collision avoidance simultaneously under magnitude constraints on the front wheel turn angle and the lateral tire force. The control algorithm is developed based on a model predictive control law for tracking a time-varying reference signal. The proposed control algorithm is reduced to a convex quadratic programming problem. The e ffectiv ness of the proposed method is shown by human-in-the-loop simulations.