Model-Predictive-Control-based Simultaneous Trajectory Tracking and Speed Control for Intelligent Vehicles

Trajectory tracking and speed control for intelligent vehicles are put forward higher requirements on accuracy by the high traffic density scenario. A standard Model Predictive Control (MPC) algorithm focuses on the trajectory tracking but ignores the speed control. This paper proposes a simultaneous trajectory tracking and speed control algorithm based on MPC approach to address fine control in both space and time dimensions for intelligent vehicles. A threefold cost function including lateral and longitudinal speed as well as comfort has been proposed to improve the control algorithm. The simulations and comparisons demonstrate that the proposed method has a better tracking and speed control performance than the existing method.