In order to ensure the accuracy of trajectory tracking and maneuvering stability of intelligent vehicles at high speeds on roads with different coefficients of adhesion, the Adaptive Model Predictive Control (AMPC) method was used to estimate the tire cornering stiffness on-line and update the parameters of the vehicle dynamics model in real time under high-speed driving conditions, and the Non-Fixed Step (NFS) discrete method was used to prolong the prediction time domain while the slip stability constraints were added into the objective function, thus maintaining high stability and control in real time under high-speed driving conditions. The proposed method can improve the maneuvering stability and control accuracy when the vehicle is driving on the road with different adhesion coefficients under high-speed driving conditions, as shown in the joint simulation results of CarSim and MATLAB/Simulink.

High-speed driving  /  Adaptive Model Predictive Control (AMPC)  /  Non-Fixed Step (NFS)  /  Trajectory tracking