Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect

Table 2

Model predictive control parameters.

Parameter	Value
Predictive horizon	20
Control horizon	9
Sampling time [s]	0.05
Constraints on max and min steering angles [deg.]	±20
Constraints on max and min changes in steering angles [deg./s]	±10
Constraints on max and min changes in moment torque [Nm/rad]	±2000
Constraints on max and min moment torque [Nm/rad/s]	±1500
Simulation time [s]	15