Implementation of Model Predictive Control for Path Following with the KTH Research Concept Vehicle
Trends in research show the interest of autonomously driving cars. One topic within autonomous driving is path following, which is the topic studied in this project. More specifically model predictive controllers for path following with the KTH Research Concept Vehicle were designed and evaluated.
A number of model predictive controllers were developed. They used different levels of prediction model complexities, as well as both two and four wheel steering. In the two wheel steering case the front wheels were controlled and in the four wheel steering case the front and rear wheels where controlled independently. The path following performance was studied and evaluated in simulations on flat, banked, and sloped road surfaces. The main focus with the design of the controller was for it to keep the vehicle as close as possible to the path while the ride comfort is maintained at an acceptable level.
The studies of the different model predictive control designs, resulted in that the most suitable controller was implemented, and the path following performance with the KTH Research Concept Vehicle was studied.
Pontus Belvén