Trajectory Tracking Control of Intelligent Driving Vehicles Based on MPC and Fuzzy PID

To improve the stability and accuracy of quintic polynomial trajectory tracking, an MPC (model predictive control) fuzzy PID (proportional-integral-difference)- based control method are proposed. A lateral tracking controller is designed by using with rule-based horizon parameters. The controls steering angle to reduce errors. longitudinal a PID. motor torque brake pressure referring throttle/brake calibration table By combining two controllers, we achieve satisfactory control. Relative vehicle simulation carried out under common scenarios in Simulink/Carsim platform. result shows that strategy can avoid excessive errors which ensures better performance for high safety, stability, adaptability.