Aiming at the path tracking problem of commercial vehicles, the model predictive control strategy is adopted. A predictive model is established according to the two-degree-of-freedom vehicle model, which is transformed into a linear time-varying model by linearization and discretization. In order to ensure the stability of the vehicle, the front wheel steering angle, front wheel steering angle increment and the tire side-slip angle are constrained. The path tracking controller of linear time-varying model predictive control algorithm is established, and the co-simulation is carried out under different working conditions. The simulation results show that the proposed path tracking controller can ensure that the vehicle travels along the reference path, so that the vehicle achieves a good path tracking effect; the model predictive control algorithm has good adaptability to vehicle speed, vehicle load and road adhesion coefficient, which gurantees the stability of vehicle driving.

CICTP