为提高智能车辆路径跟踪的鲁棒性,基于模型预测控制原理提出了一种路径跟踪控制方法.该方法对车辆的3自由度非线性动力学模型进行线性化,得到线性时变模型和预测方程,并将包括控制量、控制增量等约束纳入二次规划的求解过程,同时考虑质心侧偏角、路面附着系数等影响操稳特性的约束条件.在CarSim和MATLAB/Simulink平台上以不同车速进行了双移线工况下的联合仿真,结果显示,该控制器可较好地实现路径跟踪,并保持较好的稳定性.%In order to improve the robustness of intelligent vehicle path tracking, this paper proposed a path tracking control method for intelligent vehicle based on model predictive control principle. By linearizing 3-degree-of-freedom nonlinear dynamic model of the vehicle, this method obtained a linear time-varying model and the prediction equation. Next, constraints including the control quantity and the control increment, etc., were included in the quadratic programming solution process, considering the side slip angle and the road adhesion coefficient which had impact on vehicle handling stability. Finally, co-simulation with different vehicle speeds was carried out under the conditions of double lane change on the CarSim and MATLAB/Simulink platforms. The results show that the controller can realize the path tracking accurately with good stability.
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