A New Self-Tuning Nonlinear Model Predictive Controller for Autonomous Vehicles

Algorithm 1

The pseudocode of the main steps of the proposed paradigm.

	Given the patterns of for both lateral position and longitudinal velocity
	PSO loop for finding optimal , and
	For
	Compute the step responses by evaluating , in the nonlinear dynamics, using equations (5)–(8).
	Evaluating Toeplitz and matrices, using (13) and (14).
	Evaluating , using (18)
	Loop for computing and
	Initialing
	Computing , using (16)
	Update , using (21)
	End
	Computing input signals:
	End