Abstract: Aiming at the trajectory following control technology of autonomous vehicles, the path following control based on optimal pre-aiming theory is studied in this paper, the vehicle two-degree of freedom model and the pre-target error model are established, and the model predictive control (MPC) trajectory following controller is designed to improve the following accuracy. Using the CarSim-Simulink joint simulation, the simulation results show that the algorithm strategy can stably track the lateral path.

Key words: Trajectory following; Model predictive control; Optimal pre-sight control; Joint simulation

摘要： 路径跟随是依照规划轨迹信息通过对执行元件的控制实现沿期望轨迹行驶，控制算法 对实现路径跟随非常重要。针对自动驾驶车辆的侧向控制技术，文章研究了基于最优预瞄理 论的路径跟随控制，建立车辆二自由度模型和预瞄误差模型，设计模型预测控制（MPC）侧 向跟随控制器以提高跟随精度。利用 CarSim-Simulink 联合仿真，仿真结果表明，该算法策略 能稳定跟踪规划路径。

关键词: 轨迹跟随；模型预测控制；最优预瞄控制；联合仿真