Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles
Paper i 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 (Borrelli et al. (2005)) and (Falcone et al. (2007a)), where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. As in (Borrelli et al. (2005)) and (Falcone et al. (2007a)) we formulate an MPC control problem in order to stabilize a vehicle along a desired path. In the present paper, the control objective is 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.

Författare

Paolo Falcone

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

Francesco Borrelli

H. Eric Tseng

Jahan Asgari

Davor Hrovat

5-th IFAC Symposium on Advances in Automotive Control, Berkeley, CA, USA, August 2007

Ämneskategorier

Reglerteknik