MPC-Based Path Tracking Controller Design for Intelligent Driving Vehicle

Path tracking is an important part of the research of intelligent vehicle driving systems. This paper proposes a path tracking method based on model predictive control (MPC). Firstly, the two-degree-of-freedom vehicle model is established, and the incremental model of the design controller is further obtained. Secondly, taking into account the road safety constraints and actuator constraints associated with the shape of the vehicle, a constrained MPC method is employed; The front wheel angle is obtained by rolling optimization, and vehicle path tracking control is realized. Finally, the effectiveness of the verification scheme is verified by the vehicle dynamics software veDYNA and compared with the non-incremental model. The simulation results show that the incremental model has better anti-interference.