Systems and methods for dynamic predictive control of autonomous vehicles

A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to at least:

• receive a desired trajectory for autonomously driving a semi-truck and a vehicle status of the semi-truck;
• determine a lateral dynamic model and a longitudinal kinematic model of the semi-truck based on the desired trajectory and the vehicle status;
• model movement of the semi-truck over a prediction time horizon using the lateral dynamic model and the longitudinal kinematic model;
• generate at least one control command for controlling a movement of the semi-truck based on the modelled movement;
• and
• output the at least one control command for the autonomous driving of the semi-truck along the desired trajectory.

A method for controlling movement of a semi-truck, comprising:

• receiving a desired trajectory for autonomously driving a semi-truck and a vehicle status of the semi-truck;
• determining a lateral dynamic model and a longitudinal kinematic model of the semi-truck based on the desired trajectory and the vehicle status;
• modelling movement of the semi-truck over a prediction time horizon using the lateral dynamic model and the longitudinal kinematic model;
• generating at least one control command for controlling a movement of the semi-truck based on the modelled movement;
• and
• outputting the at least one control command for the autonomous driving of the semi-truck along the desired trajectory.