Path Tracking with Nonlinear Model Predictive Control Based on Tire Adhesion Margin

This paper presents a nonlinear model predictive path tracking control method based on tire adhesion margin. The proposed method considers a vehicle's tire adhesion margin and introduces it into an objective function, which can effectively improve the safety of automobiles. Moreover, autonomous vehicles would have increased more maneuverability to enable them to deal with some emergencies when their tire adhesion margin is large. To confirm the feasibility and effectiveness of the controller, Simulation experiments are performed on MATLAB and CarSim/Simulink under diverse scenarios.