DGPR-MPC: Learning-based model predictive controller for autonomous vehicle path following

Abstract

In this paper, the authors investigate the issue of constructing and incorporating an accurate vehicle dynamic model for model predictive control (MPC) with an application to autonomous vehicle path following. To achieve the desired performance, MPC employs a precise dynamic model. However, the uncertainty of complex systems and their operating environments presents a challenge to the development of an adequately accurate vehicle dynamic model. This paper proposes a Deep Gaussian Process Regression (DGPR) method to improve model precision. Meanwhile, the learning model is incorporated into a novel MPC framework to enhance closed-loop performance. High-fidelity simulations using CarSim-MATLAB demonstrate the validity of the proposed approach in terms of enhancing the path following performance and lateral stability under the condition of large curvature at medium to high speeds on roads with different friction coefficients when compared to the nominal MPC approach.