Multi-shooting nonlinear MPC trajectory tracking control for autonomous vehicles
ZHU Zhong-wen
JIANG Zhi-tao
WANG Wei-zhi
JIANG Wei-hai
LI Shu-hua
Abstract：Aiming at the problem of insufficient tracking accuracy and poor stability of driverless vehicle trajectory under complex path conditions,this paper studies the nonlinear MPC trajectory tracking control strategy.Firstly,a vehicle dynamics model considering tire slip is established based on the brush tire model.Then,the multi-shooting algorithm is used to transform the state equation into a function continuity constraint,and the state differential equations of each prediction sub-interval are calculated independently.The sequential quadratic programming method is used to solve the nonlinear optimal control problem,and the optimal control input is obtained.Finally,through the joint simulation of CarSim and MATLAB,the dual lane shifting trajectory is tracked at three speeds of 36 km/h,54 km/h and 72 km/h,respectively.Compared with the traditional linear MPC controller,the lateral tracking cumulative error of the control strategy in this paper is reduced by 41.6％,46.6％and 36.5％,and the control effect is improved,which has good robustness to different speeds.Compared with the nonlinear MPC controller based on single-shooting,the computational efficiency is improved by 61.9％,60％and 52.8％,and the real-time performance of the algorithm is improved.
Keywords：autonomous vehiclestrack trackingmodel predictive controlmulti-shooting method
Publication Date：2025-08-30
Online Publishing Date：2025-10-10(First online date of this platform, not the publication date of the document)
Pages：9( 1477-1485 )