Research On Path-Tracking Control Of Articulated Vehicle With A Trailer Based On Advanced Model Prediction Control Strategy

Abstract

To improve the path-tracking ability and road adaptability for articulated vehicle with a trailer, this paper proposes an advanced path-tracking strategy, which is designed using the model predictive control method and an optimal curvature preview control technique. Firstly, a linear vehicle model was generated and its fidelity was verified. Then the model predictive controller was designed and used to reduce the lateral tracking error in curved path negotiations, and the optimal curvature preview control strategy was designed to improve the driving stability in straight road operation. Finally, a co-simulation platform based on Trucksim and Simulink software was built, and cosimulations were carried out under the double lane change and the single lane change maneuvers at different vehicle speeds. Simulation results show that the proposed path-tracking controller exhibits better performance than the optimal preview controller. The path-tracking ability and the driving stability are also excellent in the whole driving process for the single-trailer articulated vehicle.