越野地形下智能车辆的动力学建模与轨迹跟踪

Kai Liu; Wei Wang; Jian Wei Gong; Hui Yan Chen; Shu Ping Chen

doi:10.15918/j.tbit1001-0645.2019.09.009

越野地形下智能车辆的动力学建模与轨迹跟踪

Translated title of the contribution: Dynamic Modeling and Trajectory Tracking of Intelligent Vehicles in Off-Road Terrain

Kai Liu
, Wei Wang
, Jian Wei Gong
, Hui Yan Chen
, Shu Ping Chen

School of Mechanical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

Abstract

The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented. First, a vehicle dynamic model considering the road bank angle was developed. And then a zero-moment-point based rollover constraint was derived. Taking these vehicle dynamics and safety constraints into account, a model predictive based intelligent vehicle trajectory tracking controller was designed. Simulation results show that the proposed method can effectively adapt to the complex off-road terrains, ensuring collision-free trajectories while preventing rollover hazard.

Translated title of the contribution	Dynamic Modeling and Trajectory Tracking of Intelligent Vehicles in Off-Road Terrain
Original language	Chinese (Traditional)
Pages (from-to)	933-937
Number of pages	5
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	39
Issue number	9
DOIs	https://doi.org/10.15918/j.tbit1001-0645.2019.09.009
Publication status	Published - 1 Sept 2019

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10.15918/j.tbit1001-0645.2019.09.009

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title = "越野地形下智能车辆的动力学建模与轨迹跟踪",

abstract = "The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented. First, a vehicle dynamic model considering the road bank angle was developed. And then a zero-moment-point based rollover constraint was derived. Taking these vehicle dynamics and safety constraints into account, a model predictive based intelligent vehicle trajectory tracking controller was designed. Simulation results show that the proposed method can effectively adapt to the complex off-road terrains, ensuring collision-free trajectories while preventing rollover hazard.",

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author = "Kai Liu and Wei Wang and Gong, \{Jian Wei\} and Chen, \{Hui Yan\} and Chen, \{Shu Ping\}",

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AU - Liu, Kai

AU - Wang, Wei

AU - Gong, Jian Wei

AU - Chen, Hui Yan

AU - Chen, Shu Ping

PY - 2019/9/1

Y1 - 2019/9/1

N2 - The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented. First, a vehicle dynamic model considering the road bank angle was developed. And then a zero-moment-point based rollover constraint was derived. Taking these vehicle dynamics and safety constraints into account, a model predictive based intelligent vehicle trajectory tracking controller was designed. Simulation results show that the proposed method can effectively adapt to the complex off-road terrains, ensuring collision-free trajectories while preventing rollover hazard.

AB - The dynamic modeling and trajectory tracking control of intelligent vehicles in the off-road terrain was presented. First, a vehicle dynamic model considering the road bank angle was developed. And then a zero-moment-point based rollover constraint was derived. Taking these vehicle dynamics and safety constraints into account, a model predictive based intelligent vehicle trajectory tracking controller was designed. Simulation results show that the proposed method can effectively adapt to the complex off-road terrains, ensuring collision-free trajectories while preventing rollover hazard.

KW - Dynamic modeling

KW - Intelligent vehicle

KW - Model predictive control

KW - Off-road environment

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ER -

越野地形下智能车辆的动力学建模与轨迹跟踪

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