Intelligent Vehicle Trajectory Tracking Algorithm Based on MPC Using Laguerre Functions

A trajectory tracking control algorithm is designed for the front wheel steering of the intelligent vehicle. The state space equation of vehicle trajectory tracking is established on the strength of the vehicle kinematics model. The model predictive control algorithm using Laguerre functions is used for realizing the optimal control of intelligent vehicle trajectory tracking. The orderd number of parameters in the algorithm is less than the ordered number of parameters in the conventional method(LQR), and a limited parameters number are focus on achieving a long control horizon. In order to check on the effect of the algorithm, it is simulated on MATLAB and compared with the traditional approach. The results show that the algorithm has superior performance and can be effectively and accurately applied to the trajectory tracking control of the intelligent vehicle.