Predictive Control of an Autonomous Ground Vehicle for Lane-Keeping

This paper presents a model predictive control approach for the lane-keeping of autonomous ground vehicle. A linearize, four degree of freedom vehicle model is used to design a linear constrained model predictive controller. The control action of the predictive controller is based on the vehicle's lateral position, angular position and input disturbance. A pole-placement technique is applied to the system for stability. The constrained model predictive controller is subjected to specified performance objective for accomplishing the lane-keeping of a ground vehicle. Stability of the closed-loop system is analyzed in the time domain. The simulation results validated that, during the exposure to input disturbance, the proposed control strategy is capable to keep the vehicle within the lane.