Abstract: In recent years, autonomous driving technology has become the trend of research and development in the automotive and related technology industries. In order to improve the accuracy of the motion control of autonomous vehicles, the realization accuracy and accuracy of the control algorithms required for vehicle control have higher require -ments. This paper conducts a joint simulation of vehicle dynamics model and control algorithm for the model predictive control algorithm required in the lateral control technology of autonomous vehicles. It is mainly based on Trucksim and Simulink simulation tools to model the algorithm and vehicle dynamics model, and then the model is simulated and tested to realize the trajectory tracking control of the vehicle, which verifies the accuracy and feasibility of the model predictive control algorithm on the lateral control of the vehicle.

Key words: Vehicle dynamics modeling, Model predictive control, Simulation, Autopilot

摘要： 近年来,自动驾驶技术已经成为汽车及其相关技术行业研究和发展的趋势,为了提高自动驾驶车辆运动控制的准确性,在车辆控制方面对所需控制算法的实现精度和准确性具有较高的要求。文章针对自动驾驶车辆横向控制技术中所用的模型预测控制算法进行了车辆动力学模型和控制算法的联合仿真,主要基于Trucksim和Simulink仿真工具对该算法和车辆动力学模型进行建模,然后对模型进行仿真测试,实现了车辆的轨迹跟踪控制,验证了模型预测控制算法对车辆横向控制的准确性和可行性。

关键词: 自动驾驶, 车辆动力学建模, 模型预测控制, 仿真测试