Vehicle Trajectory Tracking Control Based on MPC Adaptive Optimization
GAN Lu
XIA Qingyuan
Abstract：In order to solve the problem that the vehicle tracking performance is degraded due to the delay of the steering mechanism of the unmanned intelligent vehicle,and to improve the accuracy and stability of the trajectory tracking of the vehicle un-der different working conditions,an adaptive optimization method based on genetic algorithm is proposed,and an adaptive optimiza-tion method based on genetic algorithm is designed.Based on the vehicle dynamics model,the model predictive control method is used to design the objective function and constraint conditions to realize the trajectory tracking control of the vehicle.Under the working conditions of different vehicle speeds,based on the tracking error and vehicle stability,the parameters of the controller are optimized by genetic algorithm.In order to verify the performance of the designed controller,the co-simulation is carried out through Simulink/Carsim and verified in the real vehicle environment.The results show that the designed adaptive model predictive controller improves the accuracy of trajectory tracking and the stability of vehicle driving,and has certain reference value in practi-cal applications.
Keywords：model predictive controlgenetic algorithmadaptive controltrajectory tracking
Publication Date：2025-05-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 1279-1285 )