【摘要】 针对商用车队列高速换道场景下稳定性问题，提出了一种考虑商用车队列状态耦合的分布式模型预测控制(DMPC)策略。采用分层控制策略，上位控制器构建商用车队列系统动力学模型，设计目标函数计算出期望加速度，下位控制器由期望加速度调节车辆节气门开度与制动压力。同时，建立了商用车队列换道轨迹规划模型并设计了基于前馈的二次线性调节器(LQR)。利用Trucksim与Matlab/Simulink联合仿真，结果表明：与普通MPC控制相比，DMPC控制能够提高商用车队列高速换道场景的轨迹跟踪性和系统稳定性。更多还原

【Abstract】 Addressing the stability issues in high-speed lane-changing scenarios for commercial vehicle platoons, this paper proposes a Distributed Model Predictive Control(DMPC) strategy that considers the state coupling of commercial vehicle platoons.A hierarchical control strategy is adopted, where the upper-level controller constructs the dynamic model of the commercial vehicle platoon system and designs an objective function to calculate the desired acceleration.The lower-level controller adjusts the vehicle’s throttle opening and brake pressure based on the desired acceleration.Simultaneously, a lane-changing trajectory planning model for commercial vehicle platoons is established, and a feedforward-based Linear Quadratic Regulator(LQR) is designed.Utilizing the TruckSim and Matlab/Simulink co-simulation, the results indicate that, compared to conventional MPC control, the DMPC control can enhance the trajectory tracking and system stability in high-speed lane-changing scenarios for commercial vehicle platoons.更多还原