Path-tracking of an autonomous vehicle via model predictive control and nonlinear filtering

Abstract

To improve the stability of the autonomous vehicle for high speed tracking, a vehicle estimator scheme integrated into a path-tracking system has been proposed in this paper. Vehicle stability is related to road condition (low road adhesion, high road adhesion, and changing road adhesion) and vehicle state, thus a state observer has been preferred in this paper to estimate vehicle state and tire-road friction as a means of judging vehicle stabilization. For the approach to the estimation, an unscented Kalman filter (UKF) employing a three degrees-of-freedom vehicle model combined with a Magic Formula (MF) tire model was designed. As a widely used model control method, the multi-constraints model predictive control (MMPC) was proposed and that was then used to calculate the desired front steering angle for tracking the planned path. The performance of the MMPC controller, with the estimator, was evaluated by the vehicle simulation software CARSIM and Matlab/Simulink. The simulation results show that the designed MMPC controller with the estimator successfully performs path-tracking at high speed for the intelligent vehicle.