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Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; H. Eric Tseng ; Jahan Asgari ; Davor Hrovat
5-th IFAC Symposium on Advances in Automotive Control, Berkeley, CA, USA, August 2007 (2007)
[Konferensbidrag, refereegranskat]

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 (Borrelli et al. (2005)) and (Falcone et al. (2007a)), where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. As in (Borrelli et al. (2005)) and (Falcone et al. (2007a)) we formulate an MPC control problem in order to stabilize a vehicle along a desired path. In the present paper, the control objective is 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.

Denna post skapades 2008-04-10.
CPL Pubid: 70011


Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik



Chalmers infrastruktur