Lane tracking control of commercial vehicle based on RMPC
1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 3. Jiangsu Gang Yang Steering System Co., Ltd., Taizhou, Jiangsu 225318, China
Abstract： Lane keeping system (LKS) is helpful to improve the driving safety of commercial vehicles. To ensure the robustness of LKS control system and reduce the model uncertainty caused by the simplified model process, the robust model predictive control algorithm based on the linear matrix inequality(LMI) was used to conduct the lane tracking control of commercial vehicles. Three degrees of freedom vehicle dynamics model was established, and the discretization and linearization were carried out. Based on the discrete dynamics model of vehicle, the model predictive controller was designed with path deviation and control increment as objective function. The model predictive control problem was transformed into minmax optimization problem by LMI. By the online dynamic optimization, the path deviation was eliminated, and the vehicle was returned to the centerline rapidly. The Trucksim/Simulink cosimulation was carried out to verify the algorithm. The results show that the lane keeping control system based on robust model predictive control（RMPC）algorithm can improve the lane tracking accuracy and driving stability of commercial vehicles.
