关键词: 自动驾驶, 车辆动力学建模, 模型预测控制, 仿真测试

Abstract: In recent years, autonomous driving technology has become the trend of research and development in the automotive and related technology industries. In order to improve the accuracy of the motion control of autonomous vehicles, the realization accuracy and accuracy of the control algorithms required for vehicle control have higher require -ments. This paper conducts a joint simulation of vehicle dynamics model and control algorithm for the model predictive control algorithm required in the lateral control technology of autonomous vehicles. It is mainly based on Trucksim and Simulink simulation tools to model the algorithm and vehicle dynamics model, and then the model is simulated and tested to realize the trajectory tracking control of the vehicle, which verifies the accuracy and feasibility of the model predictive control algorithm on the lateral control of the vehicle.

Key words: Vehicle dynamics modeling, Model predictive control, Simulation, Autopilot