Integrated Path Following and Adaptive Front-Light Control of Autonomous Vehicles: A Unified MPC Approach

This paper presents a co-design framework for autonomous vehicle path following and adaptive front-light control to enhance visibility and safety, particularly during complex maneuvers. This co-design approach utilizes a model predictive control method, where combined cost functions for path tracking and front-light angle adjustments are optimized simultaneously. A preview distance, D_l, is designed to vary with vehicle speed and path curvature, providing anticipatory lighting control that minimizes blind spots and aligns with the vehicle's path-following requirements. Simulation results demonstrate the effectiveness of the proposed method in maintaining accurate path tracking while providing optimal illumination under varying driving conditions, offering an integrative solution for autonomous vehicles.