Adaptive Model Predictive Control Based Lateral Velocity and Yaw Rate Tracking for Road Wheeled Vehicles

In this paper, an Adaptive Model Predictive Controller (AMPC) is proposed to control the lateral velocity and yaw rate of a vehicle under longitudinal speed changing. The required model for the controller synthesis and simulation conduction is detailed, and the Pacejka nonlinear model is introduced to depict the road/tire friction forces. The vehicle model is also used to feed the controller with desired driver dynamics behavior based on a reference front steering angle. The ability of the proposed strategy is appraised under various challenging driving scenarios by means of numerical simulation.