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Experimental Validation of Integrated Steering and Braking Model Predictive Control

Paolo Falcone (Institutionen för signaler och system, Mekatronik) ; Francesco Borrelli ; H. Eric Tseng ; Jahan Asgari ; Davor Hrovat
International Journal of Autonomous Vehicle Systems (1471-0226). Vol. 7 (2009), 3/4, p. 292-309.
[Artikel, refereegranskad vetenskaplig]

In this paper we present and discuss an in-vehicle experimental validation of an integrated steering and braking Model Predictive Control (MPC) algorithm. The experimental results are obtained in autonomous path following tests, where the vehicle has to autonomously perform a double lane change maneuver by simultaneously coordinating the front steering and the braking torques at the four wheels. The maneuvers are performed at high speed on slippery surfaces in order to operate close to the vehicle stability limits. The proposed controller is an MPC based on successive on-line linearizations of the nonlinear vehicle model. Experimental tests of a double lane change maneuvers at 70 Kph are shown and complex countersteering maneuvers are presented and discussed.

Nyckelord: model predictive control, autonomous vehicles, vehicle dynamics control, vehicle stability, active safety systems, double lane change



Denna post skapades 2009-03-19. Senast ändrad 2017-06-28.
CPL Pubid: 91676

 

Institutioner (Chalmers)

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

Ämnesområden

Reglerteknik
Farkostteknik

Chalmers infrastruktur