Path Tracking for Autonomous Vehicles Integrating HOCBF-Based Reinforcement Learning and Model Predictive Control

High-precision path tracking is crucial for the safe operation of autonomous vehicles. However, the performance of Model Predictive Control (MPC) depends heavily on the accuracy of the vehicle dynamics model, whereas Deep Reinforcement Learning (DRL) generally lacks formal safety guarantees during training and exploration. To address this issue, this paper proposes a hybrid path-tracking framework, termed CRL-MPC, which integrates High-Order Control Barrier Function (HOCBF)-based reinforcement learning feedforward control with model predictive feedback control. Specifically, a Deep Deterministic Policy Gradient (DDPG) agent generates nominal feedforward steering commands, which are then corrected online by a High-Order Control Barrier Function (HOCBF)-based safety filter through a Quadratic Programming (QP) problem. During training on a high-fidelity CarSim–Simulink–Python co-simulation platform, the HOCBF-based safety filter constrains exploration within physically feasible regions, thereby preventing simulator failure caused by dynamically unsafe actions and improving training stability and sample efficiency. Meanwhile, the MPC controller provides feedback correction to compensate for residual errors. Comparative simulations were conducted against two baseline architectures: a standalone conventional MPC controller and a reinforcement-learning-based MPC(RL-MPC) hybrid architecture without the HOCBF-based safety filter. The results show that CRL-MPC achieves superior overall performance in path-tracking accuracy, control smoothness, and lateral dynamic stability. Compared with conventional MPC, CRL-MPC reduces the maximum lateral displacement error and its root mean square error (RMSE) by 54.1% and 62.7%, respectively, and reduces the maximum heading-angle error and its RMSE by 18.1% and 27.1%, respectively.