Model Predictive Stabilization Control of High Speed Autonomous Ground Vehicles Considering the Effect of Road Topography
This paper presents a model predictive control (MPC) scheme for the stabilization of high speed autonomous ground vehicles (AGVs) considering the effect of road topography. Accounting for the road curvature and bank angle, a single track dynamic model with roll dynamics is derived. Variable time steps are utilized for vehicle model discretization, enabling collision avoidance in the long term without compromising the prediction accuracy in the near term. Accordingly, safe driving constraints including the sideslip envelope, zero moment point and lateral safety corridor are developed to handle stability and obstacle avoidance. Taking these constraints into account, an MPC problem is formulated and solved at each step to determine the optimal steering control commands. Moreover, feedback corrections are integrated into the MPC to compensate the unmodeled dynamics and parameter uncertainties. Comparative simulations validate the capability and real time ability of the proposed control scheme.