Vehicle Path Tracking Maneuver Based on Model Predictive Control Theory

Abstract

Vehicle path tracking problem has been a hot research topic in the field of automotive safety. Therefore, combined with a 3-DOF vehicle model is established. The basic idea behind the work was to identify the optimal steering angle input during a vehicle travels along a prescribed path. Based on Model Predictive Control (MPC), the steering angle input was determined as the control variable, tracking the desired path was determined as control object. By using the Model Predictive Control, the optimal control problem was converted into a secondary plan problem which was then solved by the active set method. The results show that the minimum error of lateral position for the generated path-tracking trajectory can be good indicators of successful solving of the path-tracking problem in vehicle handling inverse dynamics for MPC. The study can help drivers identify safe lane-keeping trajectories and area easily as well as evaluating performance of emergency collision-avoidance for a vehicle.