ABSTRACT
An automated steering controller is proposed to track the target path in this paper. Model predictive control (MPC) is employed to design the controller based on a 5-state road following bicycle model including the steering actuator dynamics. A path geometry change (PGC) index is designed to assess the severity of the path-following maneuver ahead of the vehicle. An adaption rule for adaptive preview time (APT) is designed as a linear function of PGC to adjust the prediction horizon of MPC. Simulation results show that the proposed algorithm can effectively reduce the path following error and the maximum lateral displacement while reducing the lateral acceleration and jerk for the lane following and lane change maneuvers.
