Trajectory Control of a 6×6 Vehicle for Driver Assistance

Abstract

Military vehicles navigating uneven terrain risk rollovers during abrupt maneuvers, motivating advanced driver-assistance systems for enhanced safety and stability. This study presents a trajectory-following controller based on a 2-DOF SHM model of the Guarani combat vehicle in MATLAB®, using front-wheel steering modulation via LQR and MPC. Field-test comparisons in slalom and turning-radius maneuvers—considering open-loop behavior—demonstrate that both controllers achieve accurate path tracking while maintaining stability, with the MPC exhibiting notably smoother control actions, which is advantageous for real-time implementation.