Path-Tracking Control and Following Control of Tractor-Semitrailer Combination Based on Improved MPC 2023-01-0695

In recent years, the tractor-semitrailer combination has become the primary vehicle of China's long-distance freight system. In this paper, with the aim of optimizing the path tracking control and following control of the tractor-semitrailer combination, a kinematics-based path tracking control scheme is proposed. Firstly, a kinematic model of the tractor-semitrailer combination has been constructed. The control of the tractor-semitrailer combination is simplified to focus on three control points based on the kinematics model. Secondly, the path tracking control algorithm and the following control algorithm of the tractor-semitrailer combination are proposed in this paper. The improved MPC is used for path-tracking control of tractor-semitrailer combinations. The cost function of rolling optimization steps is intended, and the optimal line is determined with the lateral deviation, the variation of lateral error, and the deviation of heading angle as the input. At the same time, the following control algorithm enables the trailer to follow the tractor's trajectory. Finally, this paper simulates the algorithm and establishes the model in MATLAB. In the simulation of the path tracking control algorithm at low speed, the tracking error can be controlled within 50 mm. Finally, in the simulation of the following control algorithm, the error can be controlled within 10 mm. In this paper, the path tracking control algorithm and the following control algorithm are used to solve the off-tracking of the tractor-semitrailer combination. It is expected that the research can promote the intelligent development of the tractor-semitrailer combination.