Vehicle Path Tracking Control Based on Model Predictive Control
Aiming at the problem of low tracking accuracy of intelligent vehicles under low adhesion coef-ficient and large curvature road surface,a high-precision medium-low speed adaptive vehicle path track-ing controller based on model predictive control is designed.Firstly,the lateral deflection characteristics of tires are analyzed according to the Pacejka tire model,and the range of tire lateral deflection angle is constrained to limit the tire lateral deflection force in the linear region to prevent the vehicle from gener-ating lateral slip.Secondly,according to the curvature magnitude of the vehicle tracking reference path,the directional deviation weights,lateral deviation weights of the vehicle and the reference path within the prediction range are adaptively adjusted to reduce the vehicle path tracking error.The results of the simulations demonstrate that the proposed controller exhibits high tracking accuracy,especially when navigating on slippery curved road surfaces at low and medium speeds.