A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles

Paper in proceeding, 2007

In this paper we present a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles. We start from the result presented in [1] and [2], where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle and the brakes at the four wheels independently, while fulfilling various physical and design constraints.