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

Abstract

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