关键词: 智能车辆, 路径跟踪, 纵横向耦合, 预瞄式MPC控制

Abstract: In view of high nonlinearity and the coupling problem of longitudinal and lateral motion control of intelligent vehicle path tracking control, a new preview MPC path tracking control method is proposed based on visual preview model and model predictive control theory. Firstly, the nonlinear prediction model is locally linearized and the MPC optimization problem is transformed into a quadratic programming problem. Then, in each control time domain, the vertical speed and the preview distance are regarded as known. The exponential model is used to describe the vertical speed, and the preview distance generator is designed based on the road curvature and the actual speed. The simulation and experimental results show that compared with the traditional MPC tracking control method, the preview MPC control method proposed in this paper reduces the lateral deviation and direction deviation in the tracking process at different vehicle speeds and improves the tracking accuracy, which is more obvious at high speed

Key words: intelligent vehicle, path tracking, longitudinal and lateral coupling, preview model predictive control