Trajectory tracking control for autonomous vehicles in different cut-in scenarios

Trajectory tracking in the cut-in scenarios is challenging because the autonomous vehicles have to follow the reference trajectory and cooperate with the cut-in vehicles simultaneously. This paper proposes a trajectory tracking control method considering the cut-in vehicles with different behaviors. A model predictive control (MPC) approach incorporating driver behavior prediction is developed to track the reference trajectory and keep a safe distance with the cut-in vehicle. Moreover, the transient process of the cut-in scenario is considered for different cut-in behaviors. By synthesizing the driver behavior prediction with the trajectory tracking control, the relative distance between the autonomous vehicle and the cut-in vehicle gradually reaches the safe distance in the transient process. The designed controller is validated by CarSim® simulation. The simulation results show that the controller can not only track the reference trajectory, but also achieve a smooth transient process in different cut-in scenarios.