Coordinated Longitudinal and Lateral Control for Vehicle Trajectory Tracking using Model Predictive Control

To improve the precision of vehicle tracking, this study presents a novel approach that integrates Model Predictive Control (MPC) for both lateral and longitudinal dynamics. Specifically, the longitudinal aspect employs MPC control to manage acceleration, while the lateral tracking control focuses on steering angle adjustment to mitigate lateral tracking errors. The longitudinal controller effectively utilizes throttle and brake calibrations to govern motor torque and brake pressure, thereby minimizing longitudinal tracking errors. By synergistically combining these two controllers, the overall tracking performance is optimized. Using Simulink/Carsim simulation to demonstrate, when comparing the traditional lateral MPC control method with MPC+PID method, the implementation of this control method can improve tracking accuracy and ensure vehicle stability.