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

摘要： 为了提高车辆在换道工况下的路径跟踪精度，提出了一种保证乘客舒适性以及车辆安 全稳定性的换道路径跟踪控制算法。一方面，建立自由度为 3 的车辆动力学模型与轮胎模型， 为了降低控制器的计算量，在小角度前提下实现轮胎模型线性化处理分析，再实现车辆模型 线性化与离散化分析；另一方面，根据所建模型提出基于线性时变模型预测的路径跟踪控制 器；最终，借助 CarSim 与 Simulink 仿真处理软件来开展五次多项式换路径仿真实验，在考 虑路径跟踪精度和稳定性的前提下，优化了部分控制器参数，对比了 3 种不同车速下的跟踪 效果。实验结果表明，提出的控制算法具有较高的控制精度，并且在高中低 3 种车速下能够 稳定地跟踪参考路径。

关键词: 模型预测控制；车辆换道；路径跟踪；动力学模型