MPC-based approach to active steering for autonomous vehicle systems
Artikel i vetenskaplig tidskrift, 2005

In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.

Författare

Francesco Borrelli

Paolo Falcone

Chalmers, Signaler och system, System- och reglerteknik, Mekatronik

Tamas Keviczky

Jahan Asgari

Davor Hrovat

International Journal on Vehicle Autonomous Systems

Vol. 3 265--291-

Ämneskategorier

Farkostteknik

Reglerteknik

DOI

10.1504/IJVAS.2005.008237