Abstract: In order to better realize the tracking and correction of the driving path of the driverless car, the speed and yaw angle of the vehicle are controlled based on the model prediction algorithm. By establishing the vehicle kinematics model, formulating the objective function, and determining the constraint conditions, the trajectory tracking controller is designed. And build model predictive control algorithm through Matlab/Simulink and CarSim software. The results show that under predetermined conditions, the vehicle reference path and the actual driving error are small, and there is good lateral stability.The results show that the algorithm can guarantee the safety of driverless cars to a certain extent, and provides a basis for intelligent vehicle control.

Key words: Self-driving vehicles; Model predictive control; Tracking; Kinematic model

摘要： 为更好地实现对无人驾驶汽车行驶路径的跟踪修正，基于模型预测算法控制车辆的车速和 横摆角。通过建立车辆运动学模型、制定目标函数、确定约束条件，设计出了轨迹跟踪控制器。 并通过 Matlab/Simulink、CarSim 软件搭建模型预测控制算法。结果显示，在预定工况下，车辆参 考路径和实际行驶误差较小，并有较好的横向稳定性。结果表明该算法能在一定程度能保证无人 驾驶汽车的安全性，为智能车辆控制提供了基础。

关键词: 无人驾驶汽车；模型预测控制；轨迹跟踪；运动学模型