Nonlinear Model Predictive Control for Aggressive Cornering Maneuver considering Effect of Large Steering Angle 2019-01-1404
In this paper, we describe a newly designed model predictive control algorithm. When we drive under high speed and high steer, the front wheels of the vehicle receive large lateral force. This lateral force causes longitudinal deceleration which naturally slows down the vehicle speed. The model predictive control method used for the high level guidance of autonomous vehicle relies on kinematic model with three states(x, y, theta), and this model does not take to account the effect of steering to the longitudinal acceleration . In this paper, we developed a model predictive controller for extreme maneuver of autonomous driving vehicle, in which the influence of steering on the longitudinal acceleration is is considered during the cornering. As a result , we verified improvement on the lap time reduction and the ability to tracking the reference trajectory more accurately.