Hierarchical predictive control for ground-vehicle manuevering

Abstract—This paper presents a hierarchical approach to feedback-based trajectory generation for improved vehicle au-tonomy. Hierarchical vehicle-control structures have been used before—for example, in electronic stability control systems, where a low-level control loop tracks high-level references. Here, the control structure includes a nonlinear vehicle model already at the high level to generate optimization-based ref-erences. A nonlinear model-predictive control (MPC) formu-lation, combined with a linearized MPC acting as a backup controller, tracks these references by allocating torque and steer commands. With this structure the two control layers have a physical coupling, which makes it easier for the low-level loop to track the references. Simulation results show improved performance over an approach based on linearized MPC, as well as feasibility for online implementations. I