A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles
Paper in proceedings, 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.

Author

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

Francesco Borrelli

Jahan Asgari

H. Eric Tseng

Davor Hrovat

15th Mediterranean Conference on Control and Automation, Athens, Greece, June 2007

Subject Categories

Control Engineering

DOI

10.1109/MED.2007.4433694

More information

Created

10/8/2017