Comparative study of lateral control strategies of MPC algorithm and PP algorithm
In order to investigate the performance differences of the lateral control algorithms of intelligent vehicles and their applicable scenarios,Pure Pursuit algorithms(PP)based on the pre-scanning model and Model Predictive Control algorithm(MPC)based on the kinematic model were constructed,respectively,and CarSim and Simulink simulated jointly and compared the effects of lateral control under the working conditions of double-shift lines and low,medium,and high speeds,and the lateral control effects were compared.The results showed that,the PP algorithm had high tracking accuracy under low and medium-speed conditions,and weak stability and low tracking accuracy under high-speed conditions;the MPC algorithm had good lateral tracking accuracy under low,medium,and high-speed conditions,but the real-time performance was weak.Considering the amount of computation and real-time performance,PP algorithm was preferred in low-speed working conditions,and MPC algorithm was the best in high and medium-speed working conditions.
model predictive controlpure pursuitlateral control strategy
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