Low Complexity MPC Schemes for Integrated Vehicle Dynamics Control Problems

A low complexity Model Predictive Control (MPC) approach to the problem of autonomous path following via combined steering and independent braking is presented in this paper. We start from the simpler approach in [5] and significantly improve the performance by better modeling the longitudinal dynamics and slightly increasing the number of optimization variables, i.e., the computational complexity. In order to assess the performance improvement, simulations are presented and compared against the results of the simpler approach in [5]. Moreover, experimental results are shown and discussed