A Model Predictive Controller With Switched Tracking Error for Autonomous Vehicle Path Tracking

Abstract

Autonomous vehicle path tracking accuracy and vehicle stability can hardly be accomplished by one fixed control frame in various conditions due to the changing vehicle dynamics. This paper presents a model predictive control (MPC) path-tracking controller with switched tracking error, which reduces the lateral tracking deviation and maintains vehicle stability for both normal and high-speed conditions. The design begins by comparing the performance of three MPC controllers with different tracking error. The analyzing results indicate that in the steady-state condition the controller with the velocity heading deviation as the tracking error significantly improves the tracking accuracy. Meanwhile, in the transient condition, by substituting the steady-state sideslip for real-time sideslip to compute the velocity heading deviation, the tracking overshoot can be reduced. To combine the strengths of these two methods, an MPC controller with switched tracking error is designed to improve the performance in both steady-state and transient conditions. The regime condition of a vehicle maneuver and the switching instant are determined by a fuzzy-logic-based condition classifier. Both normal and aggressive driving scenarios with the vehicle lateral and longitudinal acceleration combination of 5 m/s <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> and 8 m/s <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> are designed to test the proposed controller through CarSim-Simulink platform. The simulation results show the improved performance of the MPC controller with switched tracking error both in tracking accuracy and vehicle stability in both scenarios.