Lane-Changing Trajectory Tracking and Simulation of Autonomous Vehicles Based on Model Predictive Control

In order to realize the lane-changing maneuver of Connected Autonomous Vehicles (CAV), a lateral controller based on model predictive control is developed with three degrees freedom vehicle dynamic model. Then synthesized track reference trajectory fitted by quintic Bézier curve. The validated MATLAB/CarSim under different road adhesion conditions and driving speeds. Results show that for speeds, does not need adjust parameters can continuously correct deviation from expected trajectory. During tracking process, front wheel angle, angle increment, centroid side deflection are kept within limited constraint range. established algorithm has good robustness stability. research provide theoretical basis technical support safety CAV.