Abstract: Based on vehicle dynamics model and tire model, this paper adopts model predictive control to design prediction model. In order to improve the real-time performance and accuracy of tracking, the variable of front wheel side Angle is introduced, so that the unmanned vehicle can accurately track the target path under the condition of low adhesion coefficient and the condition of highway.In this paper, combined with Carsim and Simulink co-simulation, a conclusion can be drawn through the simulation experiment: after considering the constraint of front wheel sideslip Angle in the model, compared with the traditional MPC path tracking model, the path tracking effect and driving stability of the unmanned vehicle under extreme working conditions are enhanced.

Key words: Path planning; Path tracking; Model predictive control; Front wheel sideslip constraint

摘要： 文章基于车辆动力学模型和轮胎模型，采用模型预测控制设计预测模型，为提高跟踪实时性和精度而引入 了前轮侧偏角变量，使无人驾驶汽车在较低的附着系数工况下以及高速公路的工况下，可以精准地跟踪目标路径。 文章实验结合 Carsim 和 Simulink 联合仿真，通过仿真实验可以得出结论：在模型中考虑前轮侧偏角约束之后，相 比于传统的 MPC 路径跟踪模型，增强了无人驾驶车在极端工况下的路径跟踪效果和行驶稳定性。

关键词: 路径规划；路径跟踪；模型预测控制；前轮侧偏角约束