关键词: 轨迹跟随；模型预测控制；最优预瞄控制；联合仿真

Abstract: Aiming at the trajectory following control technology of autonomous vehicles, the path following control based on optimal pre-aiming theory is studied in this paper, the vehicle two-degree of freedom model and the pre-target error model are established, and the model predictive control (MPC) trajectory following controller is designed to improve the following accuracy. Using the CarSim-Simulink joint simulation, the simulation results show that the algorithm strategy can stably track the lateral path.

Key words: Trajectory following; Model predictive control; Optimal pre-sight control; Joint simulation