Integrated Path tracking control of steering and braking based on holistic MPC

Abstract To improve the tracking performance of the autonomous vehicles during collision avoidance and solve the problems of mutual interference between steering and braking in layered controllers, a path tracking controller integrating steering and braking based on a holistic MPC framework is designed in this study. By linearizing the nonlinear vehicle and tire model, a linear time-varying MPC is designed to improve the real-time performance of the system. Test results based on the co-simulation environment of MATLAB and CarSim show that compared with the existing layered control methods, the holistic method has better path tracking performance, less interference between steering and braking, and less longitudinal motion influence.

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