This paper presents a modified Model Predictive Control (MPC) framework for trajectory tracking in automated vehicles, focusing on improving stability and passenger comfort by introducing an adaptive "corridor" reference rather than strictly following a predefined single-line path. The proposed method integrates auxiliary reference paths within the MPC, allowing vehicles to operate within a safe zone around the ideal path, thereby reducing abrupt steering actions and enhancing overall vehicle control. The algorithm’s performance is evaluated through simulations in MATLAB, comparing it to the standard MPC model across three scenarios: initial deviation from a straight path, navigating a curved path, and navigating a curved path with added noise. Results demonstrate that the proposed model significantly reduces oscillations and aggressive steering corrections, particularly in noisy environments, offering smoother control while maintaining stability and comfort.
Auxiliary Trajectory Planning for Real-Time Vehicle Control Using Model Predictive Control (MPC)
2024-11-11
1658738 byte
Conference paper
Electronic Resource
English
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