关键词: 无人驾驶汽车；模型预测控制；轨迹跟踪；运动学模型

Abstract: In order to better realize the tracking and correction of the driving path of the driverless car, the speed and yaw angle of the vehicle are controlled based on the model prediction algorithm. By establishing the vehicle kinematics model, formulating the objective function, and determining the constraint conditions, the trajectory tracking controller is designed. And build model predictive control algorithm through Matlab/Simulink and CarSim software. The results show that under predetermined conditions, the vehicle reference path and the actual driving error are small, and there is good lateral stability.The results show that the algorithm can guarantee the safety of driverless cars to a certain extent, and provides a basis for intelligent vehicle control.

Key words: Self-driving vehicles; Model predictive control; Tracking; Kinematic model