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A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; Jahan Asgari ; H. Eric Tseng ; Davor Hrovat
15th Mediterranean Conference on Control and Automation, Athens, Greece, June 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 [1] and [2], 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.

Denna post skapades 2008-04-13. Senast ändrad 2008-05-11.
CPL Pubid: 70074


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik



Chalmers infrastruktur