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

• Published in: 2007 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
• Language: English
• Published: IEEE 01.06.2007
• Subjects: Mobile robots; Performance analysis; Predictive control; Predictive models; Remotely operated vehicles; Road vehicles; Tires; Trajectory; Vehicle safety; Wheels

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...