Trajectory Planning Controller Design for Autonomous Vehicles

In recent years, with the continuous development of the automotive industry, many control schemes have been applied to the control technology of autonomous vehicles. Therefore, a robust control system is a kernel for developing autonomous vehicles. Model predictive control (MPC) is a popular scheme with real-time and robustness. In this regard, this paper presents an MPC scheme for the trajectory tracking of autonomous vehicles in real-time. Firstly, the control system is set as the vehicle model with two degrees of freedom. Secondly, a nonlinear system is transformed into a linear system, and a quadratic objective function is formulated to determine the control model. Finally, simulations are carried out on the MATLAB platform. Results show that the presented controller has a good control effect and high accuracy so that the vehicle stably and efficiently accomplishes the complex trajectory tracking task.