Simulation Analysis of Vehicle Trajectory Tracking Based on Model Predictive Control

This paper studies the trajectory tracking problem of heavy vehicles. The vehicle kinematics equation is established. The linear time-varying model predictive control theory and the nonlinear model predictive control theory are applied to trajectory tracking of the vehicle respectively. The vehicle responses are simulated using MATLAB. The results show that the tracking result is more accurate and stable, the control effect of trajectory tracking using nonlinear model predictive control theory is more ideal. In addition, the sensitivity analysis of the influencing factor of nonlinear model predictive control is carried out. It is found that different wheelbases will have a slight impact on the effect of the nonlinear model predictive controller.