MPC trajectory planner for autonomous driving solved by genetic algorithm technique

Autonomous vehicle's technology is expected to be disruptive for automotive industry in next years. This paper proposes a novel real-time trajectory planner based on Nonlinear Model Predictive Control (NMPC) algorithm. A nonlinear single track vehicle model with Pacejka's lateral tyre formulas has been implemented. The numerical solution of the NMPC problem obtained by means implementation genetic algorithm strategy. Numerical results are discussed through simulations that shown reasonable behavior proposed strategy presence static or moving obstacles as well wide rage road friction conditions. Moreover made possible reported computational time analysis.