ABSTRACT
Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input multi-output systems with input and state constraints. It has previously been considered for trajectory tracking control of automated vehicles in many projects. However, MPC faces several challenges in practice, mainly regarding computation time and difficulty of implementation. This paper presents a new MPC algorithm that addresses both challenges, specifically for the problem of trajectory tracking. The algorithm comes with a code generator for open-source, library-free C-code with static memory allocation. Thus it can directly be deployed to a wide range of embedded control units (ECUs). The algorithm consists of a single controller block, which only requires adjustment of specific vehicle and tuning parameters. Preliminary simulation results show the effectiveness of the code, with computation times in the range of a few milliseconds.
