关键词: 智能车辆, 自适应, 模型预测控制, 轨迹跟踪

Abstract:

In order to ensure the accuracy and stability of the tracking control of intelligent vehicles under low attachment and variable speed conditions, a trajectory tracking control algorithm based on adaptive Model Predictive Control（MPC） is proposed. Firstly, aiming at the problems of trajectory tracking in low attachment environment, a soft constraint of the slip angle is added to the vehicle dynamics model. It designs the MPC controller with or without side slip angle constraint. The simulation results show that the performance of the MPC controller is better after the slip angle constraint is added, and the vehicle driving stability is effectively improved. Then, on this basis, an adaptive trajectory tracking control strategy is proposed, which can generate the predicted time domain [(Hp)] in real time according to the change of vehicle speed, and design an adaptive MPC controller and MPC controller of four sets of fixed [Hp] respectively. The simulation results show that the trajectory tracking control algorithm based on the adaptive model predictive control has certain effectiveness and advancement in solving the intelligent vehicle trajectory tracking control under low adhesion and variable speed conditions.

Key words: intelligent vehicle, adaptive, model predictive control, trajectory tracking