Autonomous path following using data-driven predictive control

Abstract

Predictive control based on an informative system trajectory, instead of a physics-based model, has received significant attention in recent years. This paper investigates the potential of using such data-driven control for vehicle dynamics control and autonomous path following. By considering the path following problem in the error space, the underlying system is approximately linear and existing results for data-driven predictive control can be applied. Also, scheduling based on longitudinal speed can be readily included. The proposed control algorithm was tested on two different lane change maneuvers in a high-fidelity simulation environment.