The trajectory planning and tracking problem are critical points of intelligent vehicles
concerning their safety and stability. If these parts are separated, interactions
should be made between them, especially when sudden changes and disturbances appear.
This paper presents a method that integrates the two parts using a cascade structure.
Additionally, the proposed method deals with the interaction between the lateral and
the longitudinal trajectory based on dynamical considerations. The whole problem is
handled using the model predictive method based on online optimization. This system
receives the path borders as input and generates the control requests for the actuators
on its output. The configuration space of the system can be maximized to gain stability
by handling the lateral-longitudinal parts and the trajectory planning and tracking
in one complex system. The main advantage of the proposed approach is that the optimization
problem in the predictive method is formulated so that the path and dynamics are considered
equality and inequality constraints, and the cost function includes only a physical
phenomenon to be minimized without tuning parameters. The evaluation of the proposed
algorithm is presented in this paper based on simulation and real-time measurements
results.