The invention discloses an unmanned vehicle transverse
motion control method based on GK clustering
algorithm model prediction. The method comprises the steps of 1, acquiring the current state of a vehicle in real time; 2, collecting the surrounding environment of the vehicle, and planning an expected path in real time; 3, establishing a
monorail vehicle model by using a GK clustering
algorithm; 4, converting the
monorail complete vehicle model obtained in the step 3 into a
state space equation of a linear error model, and discretizing the
state space equation; 5, using a linear time-varying
model prediction control algorithm to establish a linear time-varying
model prediction controller; taking the
mass center speed under a vehicle coordinate
system, the course angle, the
yaw velocity andthe vehicle position as input of a model prediction controller, taking the front wheel rotation angle as the output of the controller, calculating the track points in the prediction
time domain and acontrol sequence in the control
time domain according to the current state and the target track, converting the problem into a quadratic
programming problem to obtain an optimal solution, and updating the vehicle state; and 6, sequentially controlling the steering of the target vehicle according to the control quantity obtained by the model prediction controller.