LAUSR

At present, many path tracking controllers are unable to actively adjust the longitudinal velocity according to path information, such as the radius of the curve, to further improve tracking accuracy. For this problem, we propose a new path tracking framework based on model predictive control (MPC). This is a multilayer control system that includes three path tracking controllers with fixed velocities and a velocity decision controller. This new control method is named multilayer MPC. This new control method is compared to other control methods through simulation. In this paper, the maximum values of the displacement error and the heading error of multilayer MPC are 92.92% and 77.02%, respectively, smaller than those of nonlinear MPC. The real-time performance of multilayer MPC is very good, and parallel computation can further improve the real-time performance of this control method. In simulation results, the calculation time of multilayer MPC in each control period does not exceed 0.0130 s, which is much smaller than the control period. In addition, when the error of positioning systems is at the centimeter level, the performance of multilayer MPC is still good.