Optimization Of Trajectory Tracking Of Intelligent Driving Cars Based On Model Predictive Control

The rapid growth of the total number of vehicles in the country has led to the rapid development of various research fields of intelligent driving vehicles.This paper focuses on the problems related to trajectory tracking of intelligent driving vehicles,aiming to improve the accuracy and stability of vehicles in the process of trajectory tracking.(1)This paper first introduces the development status of intelligent vehicles and the current research status at home and abroad,focusing on the trajectory tracking technology of intelligent driving vehicles and the research status of trajectory tracking at the planning level.The results illustrate that MPC algorithm has significant advantages in realizing vehicle obstacle avoidance trajectory tracking.The repeated rolling optimization enables the vehicle to complete trajectory planning in a complex driving environment,and is used as a research method to realize obstacle avoidance of intelligent driving vehicles.(2)A two-degree-of-freedom vehicle dynamics model and a tire model are established,and a trajectory tracking controller based on the MPC algorithm is built using this model,and the objective function and constraints are established to complete the design of the trajectory tracking controller.(3)Based on the original trajectory tracking layer,a trajectory replanning layer is established.In order to realize the obstacle avoidance function of the intelligent driving vehicle,the trajectory planning controller is established,and the joint Matlab/Carsim simulation platform is used to verify the obstacle avoidance and tracking effect of the controller when the vehicle is driving at different speeds under two working conditions: straight line and double shift line.The results show that the designed trajectory tracking controller,combined with the planning layer,has good tracking and obstacle avoidance capabilities under different working conditions and can ensure that the vehicle continues to drive safely and stably.