Research on Target Path Tracking Method of Intelligent Vehicle Based on Model Predictive Control
英文摘要
To avoid the occurrence of vehicles＇＇side-slip and improve the performance of automatic drive during target path tracking, an improved intelligent vehicle target path tracking method was proposed. In this proposed method, the vehicle dynamics model was used as the predictive control model, the objective function was improved and the dynamic constraint of the tire slip angle was added. This proposed method was validated on the co-simulation platform constructed by CarSim and MATLAB/Simulink. The results show that the proposed method can reduce the probability of side-slip during target path tracking, and improve the tracking accuracy and safety of the intelligent vehicle target path tracking.
翻译关键词
Intelligent vehicle CarSim/Simulink co-simulation Target path tracking Model predictive control
