Lateral Control of Intelligent Driving Vehicles under Extreme Conditions

Abstract

At present, the intelligent vehicles industry is getting hotter and hotter. The lateral control of intelligent vehicles is a key technology for intelligent driving vehicles under extreme conditions. This paper analyzes the dynamics of intelligent driving vehicles and uses model predictive control(MPC) to realize lateral control of intelligent driving vehicles on ice. This paper uses carsim to establish a vehicle model and configuration environment, and simulates it on an ice surface with a friction coefficient of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mu=0.2$</tex> . Under this condition, the trajectory tracking of a vehicle with a speed of 6.7m/s is realized, and the maximum tracking error is only 0.35m.