Modeling and Simulation of Path Tracking Controller Model Based on Model Predictive Control

In this paper, the two-degree-of-freedom kinematics model of vehicle is established, and the differential equation of a vehicles two-degree-of-freedom model is discretized and linearized. A trajectory tracking controller based on model prediction algorithm is designed, and a reasonable constraint function is established based on the experiment, attempting to balance the accuracy of path tracking and vehicle stability. The algorithm is verified by Carsim and Simulink platform. The results show that the trajectory tracking controller based on model predictive control can track the preset trajectory better when it is below 5 m/s.