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MPC-Based Yaw and Lateral Stabilization Via Active Front Steering and Braking

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; H. Eric Tseng ; Francesco Borrelli ; Jahan Asgari ; Davor Hrovat
Vehicle System Dynamics Vol. 46, Supplement (2008), p. 611-628.
[Artikel, refereegranskad vetenskaplig]

In this paper we propose a path following Model Predictive Control-based (MPC) scheme utilizing steering and braking. The control objective is to track a desired path for obstacle avoidance maneuver, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [1] and [2]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.

Nyckelord: Model Predictive Control, Vehicle dynamics, Autonomous Vehicles

Denna post skapades 2008-04-10. Senast ändrad 2017-06-28.
CPL Pubid: 70002


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)



Chalmers infrastruktur