METHOD OF ANTICIPATORY CONTROL FOR AUTOMATED DRIVING

A method includes receiving planned path data, road data, and speed profile data, determining anticipatory constraints for each of the plurality of steps along a planned path using the planned path data, the road data, and the speed profile data, determining a plurality of control actions using a Model Predictive Control (MPC). The prediction model of the MPC is updated in real time with the plurality of anticipatory constraints for each of the plurality of steps along the planned path and the road data for each of the plurality of steps along the planned path. The method further includes controlling the vehicle using the plurality of control actions to cause the vehicle to autonomously follow the planned path.