MPC Tracking Controller Parameters Impacts in Roundabouts

The work is proposed to design a controller of the form known as roundabout scenario trajectory tracking problem. road condition four-leg, single-lane roundabout; reference path given. Due decision choice exits, MPC used test effect weight parameter and target speed on performance controller. Two sets cases are make experimental comparison, see relationship between control parameters conditions (different curvature path), also how Q R sample time affect performance. Our work, utilization in roundabout, plays an essential role with increasing autonomy vehicles.