Linear Time-Varying MPC Vehicle Trajectory Tracking Controller Considering Driving Road Surface Factors

Abstract

In this paper, a linear time-varying model predictive control (LTV-MPC) steering controller for vehicle trajectory tracking considering road factors is proposed. Combined with the vertical load component force caused by road inclination angle and bank angle, the full-vehicle dynamics model considering the vertical load was established. In addition, the rollover limit and sideslip limit caused by road surface factors are considered and analyzed in this paper, and they are considered as two of the constraint conditions in the optimal solution of LTV-MPC. The simulation results show that the control accuracy of the MPC controller considering the road surface factor has more than doubled compared with the regular MPC, and it has good robustness to complex road surface while meeting the real-time requirements.