MPC Tracking Controller Parameters Impacts in Roundabouts

The work is proposed to design a controller of the form known as the roundabout scenario trajectory tracking problem. The road condition is a four-leg, single-lane roundabout; the reference path is given. Due to the decision choice of exits, the MPC tracking controller is used to test the effect of weight parameter and target speed on the performance of the tracking controller. Two sets of test cases are proposed to make the experimental comparison, see the relationship between the control parameters and road conditions (different curvature path), and also see how the weight parameters Q and R and sample time affect the tracking performance. Our work, MPC controller utilization in a roundabout, plays an essential role with the increasing autonomy of vehicles.