Research on vehicle path tracking control technology based on model predictive control
Taking the three-degree-of-freedom dynamic model of vehicles as the research object,the predictive control algorithm of autonomous vehicle model was studied.Combined with the linear region of the magic tire model and the small angle hypothesis theory,the vehicle dynamics model was simplified,and the path tracking controller based on the model predictive control algorithm was designed.In the MATLAB/CarSim joint simulation platform,using the MATLAB/CarSim joint simulation platform,multiple working conditions were selected for simulation tests.The speed of the vehicle was set three states of low-speed,medium-speed,high-speeds,and the LQR(Linear Quadratic Regulator)algorithm design controller were used for path tracing of lane changing conditions,and compared and analyzed with model predictive controller for the effect.The results showed that the path tracking control effect of the model predictive control algorithm was better.
NETL
NSTL
万方数据
维普
