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Predictive Control Approach to Autonomous Vehicle Steering

Tamas Keviczky ; Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; Jahan Asgari ; Davor Hrovat
American Control Conference, Minneapolis, Minnesota, June 2006 (2006)
[Konferensbidrag, refereegranskat]

A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted. The paper concludes with future research directions and the necessary steps for experimental validation of the approach.



Denna post skapades 2008-04-13. Senast ändrad 2008-05-11.
CPL Pubid: 70078

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik

Ämnesområden

Reglerteknik

Chalmers infrastruktur