Trajectory Tracking Control of Autonomous Vehicle with Semi-active Suspension

戴瑜栋; 胡涛; 李博远; 孙帅帅

doi:10.13433/j.cnki.1003-8728.20230240

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Trajectory Tracking Control of Autonomous Vehicle with Semi-active Suspension

更新时间：2026-04-23

- Trajectory Tracking Control of Autonomous Vehicle with Semi-active Suspension
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 9, Pages: 1628-1635(2025)
- 作者机构：
  
  1. 中国科学技术大学工程科学学院,合肥,230022
  2. 智慧交通研究中心之江实验室,杭州,311121
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230240
  CLC：
- Published：2025
- 稿件说明：
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戴瑜栋, 胡涛, 李博远, et al. Trajectory Tracking Control of Autonomous Vehicle with Semi-active Suspension[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1628-1635.
DOI：

戴瑜栋, 胡涛, 李博远, et al. Trajectory Tracking Control of Autonomous Vehicle with Semi-active Suspension[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(9): 1628-1635. DOI： 10.13433/j.cnki.1003-8728.20230240.

摘要

无人车辆的轨迹跟踪控制是实现车辆智能化的必要条件。悬架系统对车辆跟踪控制误差具有比较重要的影响。该文设计了一种新型磁流变阻尼器，并在力学平台上测试了其力学性能，根据该阻尼器的特性建立半主动悬架的动力学模型。结合该模型，建立了8自由度的非线性整车动力学模型，由此设计非线性模型预测控制器 (NMPC控制器)，在MATLAB/Simulink环境下进行仿真实验，并将结果与采用被动悬架的NMPC控制器控制效果进行对比分析，得出结论：在无人车辆跟踪控制中考虑半主动悬架的控制可以提升车辆在跟踪控制中的跟踪精度和操稳性表现。

Abstract

Trajectory tracking control of autonomous vehicle is a prerequisite to achieve vehicle intelligence. The suspension system performance will greatly affect the path tracking error. This article designed a new type of magneto-rheological damper (MR damper)

and the dynamic performance test of the MR damper was carried out on the test platform. A semi-active suspension dynamic model based on the MR damper was established according to the test performance. Then a nonlinear model predictive controller was designed

based on the nonlinear vehicle dynamic model of 8-degree of freedom (8-DOF) combining with semi-active suspension model

and the simulation result was verified under MATLAB/Simulink environment. The result is compared with the controller with passive suspension control. It is concluded from the result that

adding semi-active suspension control can improve the tracking accuracy and the handling performance in vehicle path tracking.

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Related Institution

School of Mechanical Engineering, Shandong University, Ji′nan

Key Laboratory of High Efficiency and Clean Mechanical Manufacture, Shandong University, Ji′nan

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