Abstract
Path tracking has become an important obstacle avoidance control method for autonomous vehicles. In this paper, a model predictive control-based path tracking controller is proposed with steering torque as a control input. The reference trajectory is defined on the basis of a sigmoid function. The proposed method integrates the steering model and two-degree-of-freedom bicycle model into a vehicle dynamic model. The integrated model tracks the desired yaw angle and lateral displacement by optimizing the steering torque. Simulation experiments using MATLAB/Simulink and CarSim are conducted to verify the performance of the proposed controller.
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