A Model Predictive Control Approach for Combined Braking and Steering 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 [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.

Författare

Paolo Falcone

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

Francesco Borrelli

Jahan Asgari

H. Eric Tseng

Davor Hrovat

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

Ämneskategorier

Reglerteknik

DOI

10.1109/MED.2007.4433694

Mer information

Skapat

2017-10-08