Path-tracking and lateral stabilisation for autonomous vehicles by using the steering angle envelope

Qingjia Cui, Rongjun Ding, Chongfeng Wei, Bing Zhou*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


In the design of a path-tracking controller for autonomous vehicles, mediating the conflicting objectives among path-tracking, vehicle stabilisation, and low computational cost is a challenging issue. Accordingly, this paper proposes a model predictive control (MPC)-based path-following controller with steering angle envelopes. In contrast to previous MPC-based structure, in which the constraints in terms of the road sides and lateral stabilisation directly impose on the algorithm, in the proposed approach, these aspects are formulated as the steering angle envelopes. This feature enables the controller to simultaneously ensure the tracking performance and computational feasibility. Moreover, considering the trade-off between path-tracking and vehicle stabilisation, the full-length prediction horizon pertaining to the steering angle envelopes are divided into two different parts: the safe road envelope is applied in the short-term, and the stable handling envelope is applied in other part. By modelling vehicles driving under different road conditions with various driving speeds and road adhesion values, the developed controller is compared with several existing control schemes via simulations and hardware-in-the-loop (HIL) experiments. The comparison results demonstrate the effectiveness of the proposed controller in realising path-tracking, lateral stabilisation, and real-time computational capabilities in the best possible manner.

Original languageEnglish
JournalVehicle System Dynamics
Early online date08 Jun 2020
Publication statusEarly online date - 08 Jun 2020
Externally publishedYes

Bibliographical note

Funding Information:
The authors would like to thank the support from the Collaborative Innovation Center of Intelligent New Energy Vehicle. The authors highly appreciate the editors and expert reviewers for their time and insightful suggestions.

Publisher Copyright:
© 2020, © 2020 Informa UK Limited, trading as Taylor & Francis Group.

Copyright 2020 Elsevier B.V., All rights reserved.


  • Autonomous vehicles
  • computational cost
  • model predictive control
  • path-tracking
  • steering angle envelope
  • vehicle stabilisation

ASJC Scopus subject areas

  • Automotive Engineering
  • Safety, Risk, Reliability and Quality
  • Mechanical Engineering


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