Abstract: In order to improve intelligent vehicle trajectory tracking accuracy, a trajectory tracking method based on linear time-varying model predictive control is proposed based on vehicle dynamics model. The method linearizes and discretizes the nonlinear tracking-error model of vehicle dynamics as the predictive model of the controller. The objective function of the system control increment is established with the constraints of the state, control and control increment designed. Then the objective function is solved by the quadratic programming problem with constraints and the first control volume of the optimal sequence is applied to the system. The experimental results show that the maximum lateral error is less than 0.52 m and the maximum heading error is less than 0.067 rad when the vehicle speed is less than 15 m/s under double lane-changing conditions.

Key words: intelligent vehicles, trajectory tracking, model predictive control