Motion control of autonomous vehicles after a tyre blow-out based on differential-flatness-MPC

被引：1

作者：

Wang, Yuhai ^{[1
]}

Xing, Yanhui ^{[1
]}

Cong, Yanfeng ^{[2
]}

机构：

[1] Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130025, Jilin, Peoples R China

[2] Jilin Univ, Qingdao Automot Res Inst, Qingdao 266000, Shandong, Peoples R China

来源：

INTERNATIONAL JOURNAL OF VEHICLE DESIGN | 2024年 / 94卷 / 3-4期

关键词：

MPC; model predictive control; differential-flatness; tyre blow-out; motion control; autonomous vehicle; Simulink; MODEL-PREDICTIVE CONTROL; ROAD VEHICLES; SYSTEMS; DESIGN;

D O I：

10.1504/IJVD.2024.137292

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a vehicle safety evaluation index after a tyre blow-out event. By applying safety indicators, the movement characteristics of the vehicle are analysed according to different driving operation strategies, and then give the driving operation strategy for the vehicle after a tyre blow-out. In addition, through the analysis of the performance of the flat tyre wheel, the vehicle dynamics model with a flat tyre is presented. According to the operation strategy of the flat tyre, the model predictive control (MPC) method based on differential flatness is used to investigate the motion control problem of vehicles with flat tyres when driving on motorway. The simulation results show that the method can control well the movement behaviour of the vehicle with a flat tyre.

引用

页码：252 / 273

页数：23

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