Roll stability is a major concern in the path tracking process of intelligent heavy vehicles in emergency steering maneuvers. Due to the coupling of lateral and roll motions of heavy vehicle, steering actions for path tracking may come into conflict with that for roll stability. In this paper, a hierarchical adaptive control framework composed of a supervisor, an upper controller and a lower controller is developed to mediate conflicting objectives of path tracking and roll stability via steering control. In the supervisor, path tracking control mode or cooperative control mode of path tracking and roll stability is determined by the predicted rollover index, and a weight function is introduced to balance the control objectives of path tracking and roll stability in cooperative control mode. Then, in order to achieve multi-objective real-time optimization, model predictive control with varying optimization weights is used in the upper controller to calculate the desired front steer angle. The lower controller which integrates the real electrically assisted hydraulic steering system based on Proportional-Integral-Derivative control is designed to control steering wheel angle. Simulation and hardware-in-loop implementation results in double lane change scenario show that the proposed hierarchical adaptive control framework can enhance roll stability in emergency steering maneuvers while keeping the accuracy of path tracking for intelligent heavy vehicle within an acceptable range.

中文翻译：

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基于MPC的智能重型车辆路径跟踪与侧倾稳定性分层自适应控制框架

侧倾稳定性是智能重型车辆在紧急转向操纵中的路径跟踪过程中的主要问题。由于重型车辆的横向运动和侧倾运动的耦合，路径跟踪的转向动作可能与侧倾稳定性的转向动作发生冲突。在本文中，开发了由监督器、上控制器和下控制器组成的分层自适应控制框架，以通过转向控制来调解路径跟踪和侧倾稳定性的冲突目标。在监督器中，路径跟踪和侧倾稳定性的路径跟踪控制模式或协同控制模式由预测的侧翻指标决定，并引入权重函数来平衡协同控制模式下路径跟踪和侧倾稳定性的控制目标。然后，为了实现多目标实时优化，上层控制器采用不同优化权重的模型预测控制来计算所需的前转向角。下位控制器集成了真正的基于比例-积分-微分控制的电助力液压转向系统，用于控制方向盘转角。双车道变换场景的仿真和硬件在环实现结果表明，所提出的分层自适应控制框架可以增强紧急转向操纵中的侧倾稳定性，同时将智能重型车辆的路径跟踪精度保持在可接受的范围内。下位控制器集成了真正的基于比例-积分-微分控制的电助力液压转向系统，用于控制方向盘转角。双车道变换场景的仿真和硬件在环实现结果表明，所提出的分层自适应控制框架可以增强紧急转向操纵中的侧倾稳定性，同时将智能重型车辆的路径跟踪精度保持在可接受的范围内。下位控制器集成了真正的基于比例-积分-微分控制的电助力液压转向系统，用于控制方向盘转角。双车道变换场景的仿真和硬件在环实现结果表明，所提出的分层自适应控制框架可以增强紧急转向操纵中的侧倾稳定性，同时将智能重型车辆的路径跟踪精度保持在可接受的范围内。