Abstract：To improve the accuracy of path tracking and the vehicle handling stability in the process of automatic driving tracking, a trajectory tracking control method based on model predictive control principle and angle compensation was proposed. The overall control structure was divided into two layers, and the upper layer was the trajectory tracking control layer. According to the obtained road information and the driving state of the vehicle, the front wheel steering control input was determined by the model predictive control algorithm. In the lower layer, the sliding mode control theory was used to design the angle compensator, and the yaw rate deviation of the vehicle was taken as the control target to achieve accurate tracking. The results show that compared with the single-point preview strategy, the trajectory tracking control strategy based on model prediction and angle compensation can better control the vehicle to achieve trajectory tracking, and the peak values of yaw rate and sideslip angle are significantly reduced with better stability.
李胜琴， 邢佳祁. 基于模型预测和转角补偿的智能汽车换道轨迹跟踪控制算法[J]. 江苏大学学报（自然科学版）, 2024, 45(3): 249-256.
LI Shengqin， XING Jiaqi. Trajectory tracking control algorithm of lane changing for intelligent vehicle based on model prediction and angle compensation[J]. Journal of Jiangsu University(Natural Science Eidtion)
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2024, Vol. 45 
