Receding Horizon Control for Lane Tracking of Intelligent Vehicles

In this paper, the method to get lane equation and vehicle desired path based on image information and multi-preview points is presented. And then a dynamic equation is established to characterize the vehicle lateral motion and tire lateral characteristics. And the constraint requirements of vehicle steering constraint and lateral acceleration constraint under vehicle stable situation are also considered. On the basis of the above, a receding horizon control method for desired path tracking of the intelligent vehicle is given. The method presented in this paper can be used to path tracking of different roads, and can effectively deal with the impact of the change of longitudinal vehicle speed on the desired path tracking control. In order to evaluate the performance of the proposed controller, this paper simulated in the high precision vehicle dynamic simulation software veDYNA.