A Predictive Controller for Autonomous Vehicle Path Tracking 论文

摘要

This paper presents a model predictive controller (MPC) structure for solving the path-tracking problem of terrestrial autonomous vehicles. To achieve the desired performance during high-speed driving, the controller architecture considers both the kinematic and the dynamic control in a cascade structure. Our study contains a comparative study between two kinematic linear predictive control strategies: The first strategy is based on the successive linearization concept, and the other strategy combines a local reference frame with an approaching path strategy. Our goal is to search for the strategy that best comprises the performance and hardware-cost criteria. For the dynamic controller, a decentralized predictive controller based on a linearized model of the vehicle is used. Practical experiments obtained using an autonomous ldquoMini-Bajardquo vehicle equipped with an embedded computing system are presented. These results confirm that the proposed MPC structure is the solution that better matches the target criteria.