TRAJECTORY CONTROL SYSTEM FOR AUTOMATED DRIVING INCLUDING FEEDFORWARD AND MODEL PREDICTIVE CONTROL

A vehicle includes an electronic power steering (EPS) system configured to steer front wheels of the vehicle in response to a steering command. A trajectory control module is configured to generate the steering command. The trajectory control module includes a perception module configured to identify a target path for the vehicle and a planning module configured to determine a blend path for the vehicle to the target path. A control module includes a feedforward module configured to generate a feedforward steering command, a model predictive control module configured to generate a feedback steering command in response to the feedforward steering command and model predictive control, and a summer configured to generate the steering command in response to a sum of the feedforward steering command and the feedback steering command.