Low complexity MPC schemes for integrated vehicle dynamics control problems

Abstract

A low complexity Model Predictive Control (MPC) approach to the problemof autonomous path following via combined steering and independentbraking is presented in this paper. We start from the simpler approachin [5] and significantly improve the performance by better modelingthe longitudinal dynamics and slightly increasing the number of optimizationvariables, i.e., the computational complexity. In order to assessthe performance improvement, simulations are presented and comparedagainst the results of the simpler approach in [5]. Moreover, experimentalresults are shown and discussed.