Research on Lane Keeping Control of Commercial Vehicle Based on Model Predictive Control

Aiming at the lateral control problem in the lane keeping assistant system of commercial vehicles, a lane keeping controller based on model predictive control(MPC) and a mass estimator based on Kalman filter(KF) is designed. Firstly, the related vehicle model for the study of lane keeping lateral control and mass estimate is established. Secondly, the mass estimator is designed to estimate the mass of commercial vehicles, and the lane keeping controller of commercial vehicles is designed based on the vehicle model and state variables. Finally, the co-simulation scene is built up based on TruckSim/Simulink to test the effect of the designed estimator and controller. The simulation results show that the mass estimator can estimate the mass of the commercial vehicle accurately, and the lane keeping controller also achieves the expected control effect.