关键词: 自动驾驶；横向控制；联合仿真；模型预测控制

Abstract: Lateral control of autonomous vehicle is the key factor to achieve stable and accurate driving, and its lateral control will directly affect the quality Path tracking effect. This paper will focus on the lateral control problem, based on the vehicle dynamics and kinematics model, combined with the control objective of the special select appropriate input and output and state quantity, build prediction model, and complete algorithm derivation. Connect Simlink to CarSim combined with the simulation platform, the horizontal model predictive control algorithm is co-simulated and analyzed. Finally, the modified Chinese V3 car as a test the platform, the real vehicle verifies the feasibility of the horizontal control algorithm designed in this paper, analyzes the driving state results of the test vehicle, horizontal control the algorithm can realize the stability and accuracy of the lateral control of the autonomous vehicle.

Key words: Automatic driving; Lateral control; Co-simulation; Model predictive control