关键词: 路径规划；路径跟踪；模型预测控制；前轮侧偏角约束

Abstract: Based on vehicle dynamics model and tire model, this paper adopts model predictive control to design prediction model. In order to improve the real-time performance and accuracy of tracking, the variable of front wheel side Angle is introduced, so that the unmanned vehicle can accurately track the target path under the condition of low adhesion coefficient and the condition of highway.In this paper, combined with Carsim and Simulink co-simulation, a conclusion can be drawn through the simulation experiment: after considering the constraint of front wheel sideslip Angle in the model, compared with the traditional MPC path tracking model, the path tracking effect and driving stability of the unmanned vehicle under extreme working conditions are enhanced.

Key words: Path planning; Path tracking; Model predictive control; Front wheel sideslip constraint