Implementation of Model PredictiveControl for Path Following with the KTH Research Concept Vehicle

Abstract: Trends in research show the interest of autonomously driving cars. One topic within autonomousdriving is path following, which is the topic studied in this project. More specically, development and implementation of model predictive control for path following. A numberof model predictive controllers are developed. Their path following performance is studiedand evaluated in simulations on at, banked, and sloped road surfaces. The eects of usingdierent levels of prediction model complexities are studied, and also the eects of two wheelsteering compared to four wheel steering. The main focus with the design of the controller isfor it to keep the vehicle as close as possible to the path while the ride comfort is maintainedat an acceptable level. The simulation results show the advantages of using more complex predictionmodels, as well as the advantages of four wheel steering. The studies of the dierentmodel predictive control designs, result in that the most suitable controller is implemented,and the path following performance with the KTH Research Concept Vehicle is studied. Thestudies of the path following with the KTH Research Concept Vehicle show the great potentialof using model predictive control for path following, and further improvements are proposed.