Intelligent Vehicle Path Tracking Control Based on Improved MPC and Hybrid PID

In this study, to improve the accuracy of path tracking in intelligent vehicles, we propose an vehicle path-tracking control method based on improved model predictive (MPC) combined with hybrid proportional-integral-derivative (PID) theory. lateral control, a constraint side deflection front wheel is added traditional MPC and relaxation factor introduced stability for driving stability. longitudinal PID controller designed different road conditions speed. We present results co-simulation using CarSim MATLAB/Simulink test sample vehicle, which show that proposed can greatly vehicle. The model-based prediction, rolling optimization solution, feedback addition as well ensure approach achieved error less than 1%, yaw angle was controlled within 4°. speed response system meet real-time requirements driving.