说明：  MPC控制，在当今过程控制中，PID当然是用的最多的控制方法，但MPC也超过了10%的占有率。MPC是一个总称，有着各种各样的算法。其动态矩阵控制（DMC）是代表作。DMC采用的是系统的阶跃响应曲线，其突出的特点是解决了约束控制问题。那么是DMC是怎么解决约束的呢？在这里只给出宏观的解释，而不做详细的说明。DMC把线性规划和控制问题结合起来，用线性规划解决输出约束的问题，同时解决了静态最优的问题，一石二鸟，在工业界取得了极大的成功。
(The goal of the research is the trajectory planning and tracking method of high-speed autonomous vehicle during lane changing and overtaking at high speed. Through the rapid control prototype simulation system to control the brushless direct current motor and to study the performance of the autonomous vehicle steering actuator. The research of planning layer is one of the key issues in the field of autonomous vehicle research, which is of great significance to the in-depth study of the problem.)