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Absztrakt
In this article, a model predictive controller (MPC) for automated vehicle path following is presented. The MPC calculates the optimal steering command based on the prediction of the future states of the vehicle and the reference given for the controller. The aim is to minimize the difference between the predicted and the reference states, which is ensured by the optimal control input. The MPC control technique applies a vehicle model for state prediction. In this paper, a bicycle model is used for state prediction, which model is updated at every time step formalizing an LPV-MPC structure. The controller aims to minimize the lateral and angular deviation of the vehicle from a fixed path. A reference path is built, on which the controller is tested, showing a good performance.
