MPC based trajectory tracking control for autonomous vehicles

With the advancement of technology, unmanned driving vehicles have gradually come into the public eye and become one of the key focuses in the field of automotive research. The trajectory tracking of unmanned driving vehicles, as the core of unmanned driving vehicle research, has attracted widespread attention due to its key role in enabling vehicles to travel along predetermined paths. Against this backdrop, this paper first establishes a three-dimensional kinematic model of unmanned driving vehicles and designs a trajectory tracking controller based on the theory of model predictive control, integrating control accuracy and driving energy consumption. Secondly, a simulation test platform based on Matlab is constructed. The simulation results show that the vehicle can track the predetermined trajectory under the action of the controller, with relatively good control accuracy. This technology plays an important role in improving the lanekeeping precision of unmanned driving vehicles, effectively reducing potential interference to other road users, and significantly reducing the risk of traffic accidents caused by deviation from the predetermined path, which is of great significance for the development of unmanned driving vehicles.