Bi-level Strategy Trajectory Tracking Control of Multi-axle Articulated Wheeled Vehicle

doi:10.12382/bgxb.2024.0954

Abstract

Abstract:

Multi-axle articulated wheeled vehicles are prone to occurring “tail amplification” effects and lateral instability during trajectory tracking.The study of stable trajectory tracking for multi-axle articulated wheeled vehicles is of significant importance.For the multi-axle articulated wheeled vehicle,a 7-degree-of-freedom vehicle dynamics model is established,and a bi-level strategy trajectory tracking control method is proposed.The upper-level strategy is used to address the tractor trajectory tracking problem,while the lower-level strategy is used to optimize the trailer trajectory tracking,ensuring precise tracking for both tractor and trailer.To guarantee the real-time computation of the control strategy,the upper-level trajectory tracking strategy is solved using a finite-horizon approximate dynamic programming approach,and the online optimization problem is transformed into an offline pre-solution of parameters,thus reducing the time required for online solving.This approach significantly reduces online computation time.Co-simulation experiments with high fidelity simulation software demonstrate that the proposed method is used to improve the trajectory tracking accuracy of multi-axle articulated wheeled vehicles by 12.82%,and keep a single-step solution time below 10ms,enhancing computational efficiency by three orders of magnitude compared with the model predictive control algorithm.

Key words: self-driving, trajectory tracking, approximate dynamic programming, bi-level optimization

CLC Number:

TJ810.1

ZHANG Fawang, CHEN Liangfa, DUAN Jingliang, LIU Hui, NIE Shida, ZHANG Chen. Bi-level Strategy Trajectory Tracking Control of Multi-axle Articulated Wheeled Vehicle[J]. Acta Armamentarii, 2025, 46(8): 240954-.

Figures/Tables 10

References 30

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参数	数值	参数	数值	参数	数值
η_θ	1×10^-5	N	100	M	20
η_ω	3×10^-5	Δt/s	0.01	K	50000

参数	数值	参数	数值	参数	数值
η_θ	1×10^-5	N	100	M	20
η_ω	3×10^-5	Δt/s	0.01	K	50000

方法	拖车横向误差/m	拖车横摆角误差/(°)	挂车横向误差/m	挂车横摆角误差/(°)
MPC	0.064	1.15	0.077	1.38
FHADP	0.078	1.61	0.078	1.32
Bi-level	0.073	1.55	0.068	1.32

方法	拖车横向误差/m	拖车横摆角误差/(°)	挂车横向误差/m	挂车横摆角误差/(°)
MPC	0.064	1.15	0.077	1.38
FHADP	0.078	1.61	0.078	1.32
Bi-level	0.073	1.55	0.068	1.32

工况	MPC方法	FHADP方法	Bi-level方法
单车道变换	1510.23	9.15	7.49
稳态圆周行驶	4075.99	6.67	6.04