关键词: 模型预测控制；车辆换道；路径跟踪；动力学模型

Abstract: In order to improve the path tracking accuracy of vehicles under lane changing conditions, a lane changing path tracking control algorithm is proposed to ensure passenger comfort and vehicle safety and stability. On the one hand, the vehicle dynamics model and tire model with 3 degrees of freedom are established. In order to reduce the calculation amount of the controller, the tire model is linearized and analyzed under a small angle, and then the vehicle model is linearized and discretized; On the other hand, a path tracking controller based on linear time-varying model prediction is proposed according to the established model; Finally, with the help of CarSim and Simulink simulation processing software, the fifth order polynomial path change simulation experiment is carried out. Under the premise of considering the path tracking accuracy and stability, some controller parameters are optimized, and the tracking effects under three different vehicle speeds are compared. The experimental results show that the proposed control algorithm has high control accuracy, and can track the reference path stably under three kinds of vehicle speeds.

Key words: Model prediction control; Vehicle lane changing; Path tracking; Dynamic model