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Implementation of MPC-Based Path Tracking for Autonomous Vehicles Considering Three Vehicle Dynamics Models with Different Fidelities

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Abstract

Model predictive control (MPC) algorithm is established based on a mathematical model of a plant to forecast the system behavior and optimize the current control move, thus producing the best future performance. Hence, models are core to every form of MPC. An MPC-based controller for path tracking is implemented using a lower-fidelity vehicle model to control a higher-fidelity vehicle model. The vehicle models include a bicycle model, an 8-DOF model, and a 14-DOF model, and the reference paths include a straight line and a circle. In the MPC-based controller, the model is linearized and discretized for state prediction; the tracking is conducted to obtain the heading angle and the lateral position of the vehicle center of mass in inertial coordinates. The output responses are discussed and compared between the developed vehicle dynamics models and the CarSim model with three different steering input signals. The simulation results exhibit good path-tracking performance of the proposed MPC-based controller for different complexity vehicle models, and the controller with high-fidelity model performs better than that with low-fidelity model during trajectory tracking.

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Abbreviations

C.M.:

Center of mass

DOF:

Degree of freedom

LMPC:

Linear model predictive control

MPC:

Model predictive control

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Acknowledgements

This paper is funded by International Graduate Exchange Program of Beijing Institute of Technology. The authors would like to thank Heran Shen of Columbia University for his comments on this document.

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Authors and Affiliations

  1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing, 100081, China

    Shuping Chen & Huiyan Chen

  2. Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, 53706, USA

    Dan Negrut

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  1. Shuping Chen
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  2. Huiyan Chen
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Correspondence to Shuping Chen.

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Chen, S., Chen, H. & Negrut, D. Implementation of MPC-Based Path Tracking for Autonomous Vehicles Considering Three Vehicle Dynamics Models with Different Fidelities. Automot. Innov. 3, 386–399 (2020). https://doi.org/10.1007/s42154-020-00118-w

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  • DOI: https://doi.org/10.1007/s42154-020-00118-w

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