Investigating the performance of MPC semi-active suspension control in autonomous vehicle trajectory tracking

A Model Predictive Control (MPC) semi-active suspension controller was designed and deployed on a real autonomous vehicle platform for experimental research on trajectory tracking performance. The experimental results indicate that the designed MPC semi-active suspension controller can reduce the vehicle's roll angle, pitch angle, and vertical acceleration during driving, and it can also decrease the trajectory tracking error. While enhancing the trajectory tracking accuracy of autonomous vehicles, it also provides improved driving stability and ride comfort.