Design a Model Predictive Control for Heavy Articulated Vehicle During a Critical Lane Change Maneuver

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Karimyan A.; RAHMANI HANZAKI A.; AZADI SH.

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Journal Paper

Paper Information

Journal: Journal of Aerospace Mechanics Year:2020 | Volume:16 | Issue:2 (60) Page(s): 39-53

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Information Journal Paper

Title

Design a Model Predictive Control for Heavy Articulated Vehicle During a Critical Lane Change Maneuver

Author(s)

Karimyan A. | RAHMANI HANZAKI A. | AZADI SH. | Issue Writer Certificate

Keywords

Articulated Heavy VehicleQ1

LQI ControllerQ1

MPC ControllerQ1

critical lane change maneuverQ1

Abstract

In this study, an active steering system is suggested to control an Articulated Heavy Vehicle when carrying out a high-speed intelligent lane change maneuver without collision. For this purpose, a simplified model of an Articulated Heavy Vehicle is created in MATLAB/Simulink, then three controller model predictive (MPC), Linear quadratic integral (LQI) as well as 2-DOF PID controller are designed for the front axle steering system. Then the constraints associated with the vehicle lateral stability based on the vehicle sideslip and the reference articulated angle is determined by the vehicle trajectory, for the stability of the vehicle when moving on dry and slippery roads. Also, for the implementation and test of the designed controllers, a detailed vehicle model is extracted from the TruckSim software. Furthermore, in order to evaluate the performance of the control systems, two different scenarios, i. e., facing an obstacle and friction change, are taken into account and are fulfilled on the basis of a cosimulation between MATLAB and TruckSim. Finally, comparison the performance of two controllers to assess their strengths and weaknesses are discussed.

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APA: Copy

Karimyan, A., RAHMANI HANZAKI, A., & AZADI, SH.. (2020). Design a Model Predictive Control for Heavy Articulated Vehicle During a Critical Lane Change Maneuver. AEROSPACE MECHANICS JOURNAL, 16(2 (60) ), 39-53. SID. https://sid.ir/paper/399873/en

Vancouver: Copy

Karimyan A., RAHMANI HANZAKI A., AZADI SH.. Design a Model Predictive Control for Heavy Articulated Vehicle During a Critical Lane Change Maneuver. AEROSPACE MECHANICS JOURNAL[Internet]. 2020;16(2 (60) ):39-53. Available from: https://sid.ir/paper/399873/en

IEEE: Copy

A. Karimyan, A. RAHMANI HANZAKI, and SH. AZADI, “Design a Model Predictive Control for Heavy Articulated Vehicle During a Critical Lane Change Maneuver,” AEROSPACE MECHANICS JOURNAL, vol. 16, no. 2 (60) , pp. 39–53, 2020, [Online]. Available: https://sid.ir/paper/399873/en

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