Game-Based Lateral and Longitudinal Coupling Control for Autonomous Vehicle Trajectory Tracking

Abstract

In this paper, we propose a game-based coupling controller to solve the problem of autonomous vehicles in the trajectory tracking process. The controller ensures path tracking accuracy and shows good tracking performance for the desired speed profile that changes based on navigation while driving. Furthermore, it improves ride comfort and addresses the lateral stability problems that occur when applying classical model predictive control (MPC) controllers. We implemented this controller to plan the trajectory by considering the fundamental interaction between longitudinal and lateral vehicle dynamics, as well as to track the trajectory by using a receding horizon strategy. A comparative study was conducted to compare the proposed controller with the classical MPC controller. Based on CarMaker-Matlab/Simulink co-simulations, this controller outperformed the classical MPC in terms of trajectory tracking performance. Moreover, it exhibits excellent ride comfort and lateral stability that passengers will experience.

Keywords

• Trajectory tracking
• intelligent vehicle
• control
• motion planning