Predictive Control Approach to Autonomous Vehicle Steering
Paper i proceeding, 2006
A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted. The paper concludes with future research directions and the necessary steps for experimental validation of the approach.
Chalmers, Signaler och system, System- och reglerteknik, Mekatronik