Research On Model Predictive Control-based Trajectory Tracking Control Of Intelligent Vehicle

Intelligent driving technology is the focus of competition in automotive industry and has broad application prospects currently.Through in-depth research and development of intelligent vehicle technology,not only can the vehicle's control level and driving level be improved,but also the stability and safety of the vehicle can be guaranteed.This paper mainly studies the trajectory tracking control of intelligent vehicles.Firstly,a simplified dynamic model of the target vehicle and a tire model based on the magic formula are established respectively,used as the model basis for designing the model predictive controller.Secondly,the model predictive control algorithm is derived,as well as the nonlinear dynamic model of target vehicle is transformed into the linear time-varying system.Then,the trajectory tracking controller based on the dynamic model are designed and built,including the linearized error model,the objective function,and the constraints.Moreover,the performance of the designed trajectory tracking controller under different speed conditions and different adhesion coefficient conditions is verified on the MATLAB / Simulink and Car Sim co-simulation platform.The results show that the designed trajectory tracking controller in this paper can adapt to the changes in vehicle speed and in road adhesion conditions,besides,it also has strong robustness.Finally,a layered control system combining a trajectory planning layer and a trajectory tracking control layer is established,model predictive control-based trajectory planners and trajectory tracking controllers with obstacle avoidance functions are set up,respectively.MATLAB / Simulink and Car Sim co-simulation platform were used to perform simulation experiments to verify the performance of the designed control system.The vehicle tracking stability under different speeds and different numbers of obstacles under linear and double-shift conditions was verified.It shows that the designed layered controller in this paper has good real-time performance,good tracking effect,high accuracy and reliability,and can make the target vehicle avoid obstacles on the basis of meeting the safe driving conditions of the vehicle.