Realization of different driving characteristics for autonomous vehicle by using model predictive control

This paper presents a control system for autonomous driving based on MPC in which driving style can be easily modified by changing control parameters. Each of the motion controls for the longitudinal and the lateral direction are formulated as the model predictive control problem. Finally the experimental verification by using driving simulator and a real electric vehicle is performed by implementing MPC on each platform, and it is confirmed that the proposed system can produce a large variety of driving characteristics. The implemented MPC package will also be beneficial to the developers and researchers in various fields other than control engineering field.

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