基于模型预测的智能客车路径跟踪控制研究

Research on Control of Intelligent Bus Path-tracking Based on Model Prediction

为实现智能客车跟随预瞄路径到达目标位置,本文提出一种基于模型预测的路径跟踪控制方法,并进行实车验证,表明此方法具有较小的跟踪误差和较强的系统鲁棒性。

In order to realize the intelligent bus following the pre-sighting path to the target position,a type of method of path-tracking control based on model prediction is proposed,which is proved by the real vehicle that it has less tracking error and stronger system robustness.