Application of model predictive control theory to lateral control of intelligent vehicles

Abstract

With the increasing demand for human travel, autonomous driving vehicles are gradually becoming a multi-domain, multimodule product of advanced technology. The motion control module, as an extremely important sub-module of the autonomous driving system, is divided into lateral control and longitudinal control. Therefore, in order to precisely control the vehicle's motion trajectory, the vehicle's control algorithm needs to have a more sophisticated design. Based on Matlab\Simulink and Carsim, the paper simulates the vehicle kinematics model and control algorithm, and uses model predictive control algorithm to control the speed and heading Angle of the test vehicle. Through the simulation platform test, the error between the actual trajectory and the expected trajectory is small under the preset conditions, and the lateral control stability is good. The results show that the application of model predictive control algorithm in vehicle lateral control can improve the safety of autonomous driving and have better control effect.