Abstract: In order to solve the problem that the smaller front wheel angle can not make full use of the road adhesion capacity and the larger front wheel angle makes the vehicle poor driving stability, an adaptive model prediction method with front wheel angle constraint is proposed. Firstly, the dynamic model of the vehicle is established, and then the longitudinal force of the tire is calculated, and finally the front wheel angle of the vehicle is obtained. The adaptive constraints of the state quantity of the vehicle and the front wheel angle are input to the model predictive controller, and the front wheel angle of the vehicle is output to realize the tracking of the reference path. The simulation results show that the vehicle with front wheel angle constraint adaptive model predictive control has better tracking ability and stability than the vehicle with fixed angle constraint on the platform of Carsim and MATLAB.

Key words: Adaptive front wheel corner constraint; Model predictive control; Path tracking

摘要： 针对在车辆行驶中较小的前轮转角无法充分利用路面附着能力，较大的前轮转角使得车辆 的行驶稳定性差的问题，文章提出了一种前轮转角约束自适应模型预测方法。首先建立车辆的动 力学模型，然后通过计算得到轮胎纵向力，最终得到车辆的前轮转角。将车辆的状态量与前轮转 角自适应约束条件输入给模型预测控制器，输出车辆的前轮转角，实现对参考路径的跟踪。在 Carsim 和 MATLAB 平台上联合仿真，仿真结果表明前轮转角约束自适应模型预测控制的车辆相比 固定转角约束的车辆具有较好的跟踪能力和稳定性。

关键词: 前轮转角约束自适应；模型预测控制；路径跟踪