DRCC-LPVMPC: Robust Data-Driven Control for Autonomous Driving and Obstacle Avoidance

摘要

Safety in obstacle avoidance is critical for autonomous driving. While model predictive control (MPC) is widely used, simplified prediction models such as linearized or single-track vehicle models introduce discrepancies between predicted and actual behavior that can compromise safety. This paper proposes a distributionally robust chance-constrained linear parameter-varying MPC (DRCC-LPVMPC) framework that explicitly accounts for such discrepancies. The single-track vehicle dynamics are represented in a quasi-linear parameter-varying (quasi-LPV) form, with model mismatches treated as additive uncertainties of unknown distribution. By constructing chance constraints from finite sampled data and employing a Wasserstein ambiguity set, the proposed method avoids restrictive assumptions on boundedness or Gaussian distributions. The resulting DRCC problem is reformulated as tractable convex constraints and solved in real time using a quadratic programming solver. Recursive feasibility of the approach is formally established. Simulation and real-world experiments demonstrate that DRCC-LPVMPC maintains safer obstacle clearance and more reliable tracking than conventional nonlinear MPC and LPVMPC controllers under significant uncertainties.