Adaptive path planning and tracking system based on model predictive control for autonomous vehicle local obstacle avoidance

Abstract

Path planning and tracking control are the key technologies of autonomous vehicle. The planned path and tracking results affect driving stability and safety directly. In this paper, an improved local path planning method based on model predictive control is proposed to match the variation of vehicle speed and road adhesion coefficient. A two‐layer model predictive control (MPC) path planning and tracking system is further designed to validate the method and the simulation results show that the proposed solution solves the problem of excessive avoidance and reduces the lateral deviation with the reference path.