Guaranteeing Consistency in a Motion Planning and Control Architecture Using a Kinematic Bicycle Model

TL;DR

This paper presents an integrated motion planning and control system using a kinematic bicycle model, ensuring trajectory feasibility through steering angle limitations, and validated in high-fidelity simulations for safe driving.

Contribution

It introduces a novel method to guarantee trajectory feasibility by limiting steering angles based on speed within a combined MPC and PID control architecture.

Findings

Successful trajectory feasibility in challenging scenarios

Effective combination of MPC and PID controllers

Validated on high-fidelity simulation model

Abstract

This paper proposes to combine a 10Hz motion planner based on a kinematic bicycle Model Predictive Control (MPC) and a 100Hz closed-loop Proportional-Integral-Derivative (PID) controller to cope with normal driving situations. Its novelty consists in ensuring the feasibility of the computed trajectory by the motion planner through a limitation of the steering angle depending on the speed. This ensures the validity of the kinematic bicycle model at any time. The architecture is tested on a high-fidelity simulation model on a challenging track with small curve radius, with and without surrounding obstacles.