Combined Path Following and Vehicle Stability Control using Model Predictive Control

Daan Lenssen, Alberto Bertipaglia, Felipe Santafe, Barys Shyrokau

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This paper presents an innovative combined control using Model Predictive Control (MPC) to enhance the stability of automated vehicles. It integrates path tracking and vehicle stability control into a single controller to satisfy both objectives. The stability enhancement is achieved by computing two expected yaw rates based on the steering wheel angle and on lateral acceleration into the MPC model. The vehicle's stability is determined by comparing the two reference yaw rates to the actual one. Thus, the MPC controller prioritises path tracking or vehicle stability by actively varying the cost function weights depending on the vehicle states. Using two industrial standard manoeuvres, i.e. moose test and double lane change, we demonstrate a significant improvement in path tracking and vehicle stability of the proposed MPC over eight benchmark controllers in the high-fidelity simulation environment. The numerous benchmark controllers use different path tracking and stability control methods to assess each performance benefit. They are split into two groups: the first one uses differential braking in the control output, while the second group can only provide an equal brake torque for the wheels in the same axle. Furthermore, the controller's robustness is evaluated by changing various parameters, e.g. initial vehicle speed, mass and road friction coefficient. The proposed controller keeps the vehicle stable at higher speeds even with varying conditions.

Original languageEnglish
Article number2023-01-0645
Number of pages11
JournalSAE Technical Papers
Publication statusPublished - 2023
EventSAE 2023 World Congress Experience, WCX 2023 - Detroit, United States
Duration: 18 Apr 202320 Apr 2023

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Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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