Hybrid model predictive control for vehicle trajectory tracking with integrated attitude adjustment

Abstract

This paper presents a vehicle trajectory tracking method that integrates attitude adjustment. The method utilizes the asymmetric adjustment of the damping of the adjustable damping shock absorber to lift the left and right vehicle body and carry out the attitude adjustment of the vehicle. Additionally, it actively tilts toward the inside of the curve during turning. In order to address the nonlinear constraints of damping asymmetry regulation and the mixed logic relationship between suspension asymmetry damping switching and left and right body lifting during body attitude regulation, a mixed logic dynamic system (MLD) for vehicle attitude adjustment is established. Subsequently, the vehicle trajectory tracking controller is designed using the hybrid model predictive control theory (HMPC), which integrates active steering control and attitude adjustment. The optimal control problem of hybrid systems is transformed into a hybrid integer quadratic programming problem and solved through finite time domain rolling optimization. The effectiveness of the proposed integrated controller is confirmed through Simulink simulation. Compared with pure tracking control and roll tracking control with zero roll angle as the control target, this controller demonstrates its ability to effectively track the reference trajectory and enhance the vehicle’s dynamic performance.