Implementation and Development of a Trajectory Tracking Control System for Intelligent Vehicle

In this paper, a trajectory tracking control system, which consists of a model predictive control unit and an active safety steering control unit, has been developed. A nonlinear bicycle vehicle model, including the longitudinal, lateral, yaw, and quasi-static roll motions, was derived as a predictive model to simulate and test the proposed model predictive control (MPC) system. A 4-DOF vehicle model was used to reflect the characteristics of vehicle dynamics to avoid rollover accidents of automobiles. Simulation was performed and experiment results demonstrated good performance of both MPC unit and active safety steering control unit. Finally, it was proved that the proposed trajectory tracking control system is easy to realize with low cost.