Online Active Set-Based Longitudinal and Lateral Model Predictive Tracking Control of Electric Autonomous Driving

Abstract

Autonomous driving is a breakthrough technology in the automobile and transportation fields. The characteristics of planned trajectories and tracking accuracy affect the development of autonomous driving technology. To improve the measurement accuracy of the vehicle state and realise the online application of predictive control algorithm, an online active set-based longitudinal and lateral model predictive tracking control method of autonomous driving is proposed for electric vehicles. Integrated with the vehicle inertial measurement unit (IMU) and global positioning system (GPS) information, a vehicle state estimator is designed based on an extended Kalman filter. Based on the 3-degree-of-freedom vehicle dynamics model and the curvilinear road coordinate system, the longitudinal and lateral errors dimensionality reduction is carried out. A fast-rolling optimisation algorithm for longitudinal and lateral tracking control of autonomous vehicles is designed and implemented based on convex optimisation, online active set theory and QP solver. Finally, the performance of the proposed tracking control method is verified in the reconstructed curve road scene based on real GPS data. The hardware-in-the-loop simulation results show that the proposed MPC controller has apparent advantages compared with the PID-based controller.