The Research on Intelligent Vehicle Trajectory Tracking Based on Model Predictive Control.

In order to complete the trajectory tracking of smart cars, a trajectory tracking method based on model predictive control is proposed. The linear linearization scheme of kinematics model is used to obtain the necessary linear time-varying system, and the three elements of model predictive control are adopted to design the controller. And based on the advantages of MPC in the control process can increase the constraints, establish the constraints based on the vehicle kinematics model, Simultaneous trajectory tracking simulation experiment of simulink and Carsim after writing corresponding algorithm with MATLAB. The trajectory is designed based on the premise that there is an obstacle in front of the vehicle. The experimental results show that the controller based on MPC algorithm can track the desired trajectory quickly and stably.