现代制造工程Issue(4)：61-69,9.DOI:10.16731/j.cnki.1671-3133.2026.04.008
基于RL-MPC的智能车辆轨迹跟踪横向控制策略
Lateral control strategy for intelligent vehicle trajectory tracking based on RL-MPC
摘要
Abstract
To address the problem that intelligent vehicles struggle to balance trajectory tracking accuracy and driving stability during lateral trajectory tracking,a lateral control strategy for intelligent vehicle trajectory tracking based on Reinforcement Learn-ing combined with Model Predictive Control(RL-MPC)is proposed.First,a vehicle system dynamics model is established.Then,relying on the receding horizon optimization framework of Model Predictive Control(MPC),the trajectory tracking accuracy is quantified in real time.Meanwhile,a reward function is constructed to realize the autonomous optimization of the control strate-gy,and a feedback correction module is used to correct the prediction deviation.Finally,a simulation model is built using Matlab/Simulink software for simulation tests,and the RL-MPC controller is compared with the traditional MPC controller.The experi-mental results show that under different working conditions,compared with the traditional MPC controller,the RL-MPC controller achieves better trajectory tracking performance,significantly reduces the lateral tracking error,and improves the handling stability under driving conditions.关键词
智能车辆/轨迹跟踪/横向控制/模型预测控制/强化学习Key words
intelligent vehicles/trajectory tracking/lateral control/Model Predictive Control(MPC)/Reinforcement Learning(RL)分类
交通工程引用本文复制引用
郝亮,董耀付,刘磊,杨少华..基于RL-MPC的智能车辆轨迹跟踪横向控制策略[J].现代制造工程,2026,(4):61-69,9.基金项目
国家自然科学基金区域创新发展联合基金重点项目(U24A20283) （U24A20283）
辽宁省科技厅计划联合计划项目(技术攻关计划项目)(2024JH2/102600150) （技术攻关计划项目）
辽宁省科技厅成果转化类揭榜挂帅项目(2023JHI/11100003) （2023JHI/11100003）
