MPC-Based Yaw and Lateral Stabilization Via Active Front Steering and Braking
Artikel i vetenskaplig tidskrift, 2008

In this paper we propose a path following Model Predictive Control-based (MPC) scheme utilizing steering and braking. The control objective is to track a desired path for obstacle avoidance maneuver, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [1] and [2]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.

Model Predictive Control

Vehicle dynamics

Autonomous Vehicles


Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik

H. Eric Tseng

Ford Motor Company

Francesco Borrelli

University of California

Jahan Asgari

Ford Motor Company

Davor Hrovat

Ford Motor Company

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 46, Supplement SUPPL.1 611-628


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