An improved model predictive control method for vehicle lateral control

This paper presents a lateral dynamic model based on control algorithm for the path tracking of autonomous vehicle. To improve the stability of the vehicle for high speed cases, an improved model predictive control (MPC) controller has been proposed in this paper. By combining the steady state response and MPC, the lateral motion of the autonomous vehicle can be controlled smoothly and the accuracy of path tracking can be guaranteed at a high speed. A number of simulation results obtained by using MATLAB are provided to validate this methodology.