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.


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