A model predictive control approach for combined braking and steering in autonomous vehicles

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 F. Borrelli et al. (2005) and P. Falcone et al. (2006), where a Model Predictive Controller (MPC) for autonomous steering systems...

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Bibliographic Details
Published in2007 Mediterranean Conference on Control and Automation pp. 1 - 6
Main Authors Falcone, P., Borrelli, F., Asgari, J., Tseng, H.E., Hrovat, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2007
Subjects
Mobile robots
Performance analysis
Predictive control
Predictive models
Remotely operated vehicles
Road vehicles
Tires
Trajectory
Vehicle safety
Wheels
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Summary: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 F. Borrelli et al. (2005) and P. Falcone et al. (2006), 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.
ISBN:1424412811
9781424412815
DOI:10.1109/MED.2007.4433694