Abstract: In response to the issues of low accuracy and insufficient stability in intelligent vehicle path tracking, a solution based on lateral and longitudinal integrated control was proposed.In the proposed method, the optimal front wheel steering angle was obtained based on the model predictive controller during lateral control, and the vehicle tracked the desired speed through acceleration and deceleration control strategy during longitudinal control.Moreover, the lateral and longitudinal control was coupled to form the lateral and longitudinal integrated control.CarSim and MATLAB/Simulink co-simulation platform was used to simulate the path tracking performance.The calculation results show that the proposed controller can stably track the expected speed and also improve the path tracking accuracy and driving stability.

Key words: vehicle engineering; intelligent car; path tracking; lateral and longitudinal integrated control; co-simulation

摘要： 针对智能汽车路径跟踪精度不高、稳定性不足的问题，提出一种基于横纵向综合控制的解决方法。该方法在横向控制时，根据模型预测控制器求得最优前轮转向角；纵向控制时，根据加减速控制策略使汽车跟踪期望车速；此外，将横纵向控制耦合起来形成横纵向综合控制。联合使用CarSim和MATLAB/Simulink对综合控制方法进行了仿真试验。计算结果表明:该控制器能够稳定跟踪期望速度，又能够提高路径跟踪精度、行驶稳定性。

关键词: 车辆工程；智能汽车；路径跟踪；横纵向综合控制；联合仿真