This paper proposes a steering and braking control strategy for stable path following at high
speed in a robust model predictive control (MPC) framework. In severe driving situations …

In this study, we propose an integrated braking and steering model predictive controller for
stable and accurate path tracking. To perform model-based longitudinal control and lateral …

Path tracking is a fundamental and important part of the automated vehicles, which ensures
the vehicle to drive along the desired path accurately. Although great progress has been …

This paper presents a path following application for vehicles based on a simple linear and
time invariant single-track model, which is calculated based on a constant nominal …

Path tracking control is one of the essential controls for lateral positioning controls such as
collision avoidance and lane keeping and changing. In severe situations in which the tire …

Autonomous vehicle path tracking accuracy faces challenges in being accomplished due to
the assumption that the longitudinal speed is constant in the prediction horizon in a model …

This paper presents an innovative combined control using Model Predictive Control (MPC)
to enhance the stability of automated vehicles. It integrates path tracking and vehicle stability …

In this paper, the authors investigate the issue of constructing and incorporating an accurate
vehicle dynamic model for model predictive control (MPC) with an application to …

This paper presents a robust path tracking controller based on a model predictive control
(MPC) with steady-state inputs for disturbance compensation. A conventional MPC-based …

Path tracking as an essential function of an autonomous vehicle ensures it tracks the desired
path. Its performance could be degraded by wind, road conditions, vehicle parameter …