Research on long-wheelbase vehicle path tracking control based on optimal heading angle

• Published in: Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Journal of automobile engineering, 2023-06, Vol.237 (7), p.1513-1526
• Main Authors: Li, Wenbin, Pi, Dawei, Wang, Hongliang, Xie, Boyuan
• Format: Article
• Language: English
• Subjects: Algorithms; Collision dynamics; Deviation; Intelligent vehicles; Path tracking; Steering wheels; Tracking control; Vehicles
• ISSN: 0954-4070; 2041-2991
• DOI: 10.1177/09544070221101700

Path tracking control technology is a hot topic in the research of intelligent vehicles. It is an important link to realize intelligent transportation to solve the problem of path tracking control for long-wheelbase vehicles. Aiming at the problem that the vehicle body of long wheelbase is prone to collision with the surrounding environment due to the influence of the vehicle axle length in the process of turning, the overall deviation model of vehicle wheelbase and reference path is creatively proposed, and the optimal heading angle of long-wheelbase vehicle in the process of turning is determined by solving the maximum value of the overall deviation model. The MPC path tracking controller is established based on the deviation between the heading angle and the actual vehicle. Eventually established more than a typical working condition in MATLAB and TRUCKSIM joint simulation, to verify the proposed algorithm not only has realized the long-wheelbase vehicle path tracking control and front wheel position closer to the reference curve, effective in reducing long-wheelbase vehicle steering wheel swept area, in the process of reducing long-wheelbase vehicle steering and road environment in the process of collision probability. It improves the trafficability of long-wheelbase vehicles in narrow areas.