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MPC-based approach to active steering for autonomous vehicle systems

Francesco Borrelli ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Tamas Keviczky ; Jahan Asgari ; Davor Hrovat
International Journal on Vehicle Autonomous Systems Vol. 3 (2005), 2/3/4, p. 265--291.
[Artikel, refereegranskad vetenskaplig]

In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.

Denna post skapades 2008-04-10. Senast ändrad 2017-06-28.
CPL Pubid: 70007


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Institutioner (Chalmers)

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



Chalmers infrastruktur