On-board model predictive control for autonomous lane keeping with fuzzy preview distance: Design and experiment

Abstract

This paper concerns with the development of computationally efficient lane keeping control method for the autonomous vehicles. To obtain autonomous lane keeping, model predictive control (MPC) scheme was intensively investigated in the previous studies owing to its inherent advantage of dealing with constrained multivariable systems. However, the tradeoff problem between the good tracking performance and the low computational complexity is inevitably raised in developing of MPC-based lane keeping technology. To alleviate the conflict between performance and cost, an on-board MPC with fuzzy preview distance is designed in this study. A linear system dynamics model is used in the MPC design to reduce the computational cost, and a fuzzy logic algorithm is developed to select an appropriate preview distance for enhancing the MPC performance. Further, hardware-in-the-loop test is adopted to explore the effectiveness and efficiency of the proposed control method. In comparison to the proportional-integral controller, the experimental results show that the MPC is more sensitive to the selective value of fixed preview distance. Since the significant impact of preview distance selection on the MPC-based lane keeping performance, the fuzzy logic algorithm is of the essence in terms of selecting the appropriate preview distance for MPC enhancement under different vehicle speed and road curvature. Eventually, experimental results validate that the proposed fuzzy preview distance algorithm can effectively improve the MPC-based lane keeping performance for autonomous vehicles subject to limited computational resource.