Research On Intelligent Vehicle Path Tracking Control Algorithm Based On Model Predictive Control

In recent years,intelligent driving has become a hot research area.Path tracking control is one of the key technologies to realize intelligent driving.The quality of tracking performance directly affects the safety and comfort of the vehicle driving process.Based on model predictive control theory,this paper studies the path tracking control algorithm of intelligent vehicles.In order to improve the tracking efficiency and tracking comfort of vehicles,this paper proposes a speed planning algorithm based on model predictive control.For a given desired path,the algorithm can calculate the corresponding desired speed profile and the optimal acceleration sequence.In order to perform co-simulation using trams,this paper uses a hierarchical control strategy in the design of the longitudinal controller,the upper controller uses the model predictive control algorithm,and the lower controller calibrates the accelerator and brake respectively based on the designed motor,when the speed and acceleration of the vehicle are known,the corresponding throttle opening value and brake pressure value can be found out,so as to realize the control of the vehicle speed.The simulation results show that the designed longitudinal controller can basically track the desired speed,but there is a certain delay.The lateral controller also uses the model predictive control algorithm,and simulates the 60km/h and 80km/h uniform speed scenarios respectively under the double line-change condition.The simulation results show that 60km/h can greatly improve the tracking effect.Due to the strong coupling between the lateral and longitudinal motion of the vehicle,in order to fully consider the interaction between them,a comprehensive controller is designed in this paper.The simulation test was carried out under the double linechange condition.The results show that compared with the decoupled lateral and longitudinal tracking control,the integrated controller can reduce the lateral error by 75% and the maximum lateral acceleration value by 125%.The integrated controller can not only improve the tracking effect and tracking comfort,but also reduce fuel consumption,at the same time,the vehicle also showed better dynamic performance.