Model predictive control for automated driving in complex geometries

Abstract

Examples provide a method for model predictive control for automated driving in complex geometries. The method includes receiving road lane line information from a first camera associated with a first side of a vehicle, a second camera associated with a second side of the vehicle, and map data. The method further includes initiating a perception task using the road lane line information and determining that the perception task is disturbed due to road lane geometry. The method further includes generating patches of a target path, each of the patches having an associated confidence value. The method further includes generating a combined target path by stitching together the patches of the target path. The method further includes generating, using the combined target path, desired steering commands for the vehicle. The method further includes controlling the vehicle using the desired steering commands to cause the vehicle to follow the combined target path.