Vehicle Obstacle Avoidance Path Tracking Control Based on Constraint MPC

Abstract In the process of obstacle avoidance, there are some problems such as low precision and poor safety in path tracking intelligent vehicles. To solve these problems, a model prediction controller with soft constraints is designed this paper. The adopts vehicle motion model, according to radius circumcircle vehicle, anti-collision constraint condition constructed improve safety. tracks its using predictive control (MPC) algorithm. Sideslip angle acceleration variables were introduced accuracy. simulation was carried out by CarSim MATLAB/Simulink platforms. results show that constrained MPC algorithm advanced accuracy stability trajectory under high-speed avoidance.