关键词: 无人驾驶车辆；运动学模型；模型预测控制；轨迹跟踪；滚动优化；反馈校正；CarsimSimulink 联合仿真平台

Abstract: Based on the kinematics model of three-degree-of-freedom vehicle, a trajectory tracking control algorithm was designed for the driverless vehicle with front-wheel steering, and the vehicle trajectory tracking state equations were established. The model predictive control algorithm was used to achieve optimal control of the driverless vehicle through roll optimization and feedback correction. In order to verify the effectiveness of the kinematics model and the algorithm, the kinematics model was simulated and analyzed, and a Carsim-Simulink co-simulation platform was established to conduct simulation experiments on linear trajectories and circular trajectories respectively. The simulation results showed that the kinematics model and the algorithm can effectively track the trajectory of the driverless vehicle.

Key words: Driverless vehicle; Kinematics model; Model predictive control; Trajectory tracking; Roll optimization; Feed back correction; Carsim-Simulink co-simulation platform