Autonomous car in path following control under side wind effect by laguerre function

Abstract

In this paper, the Laguerre functions in model predictive control approach for active front and rear steering for path following of autonomous car vehicle is developed and presented. The method is based on three degree of freedom linear bicycle model with linear tire model approximation. The controller based on Laguerre functions is designed to follow the desired trajectory by stabilizing the vehicle while rejecting the side wind effects. The vehicle is performing at middle and high speed maneuvers for double lane change scenario in order to see the effect of adding rear wheel steering. The simulations results showed that the predictive control based on Laguerre functions have a potential to eliminate the unmeasured disturbance compared to delta-function which is the conventional method. It also demonstrated that the disturbance effect on the vehicle in high speed maneuvers can be stabilized by utilizing the rear wheel steering rendering undisturbed movement along the desired path along the desired path.