MPC-based yaw and lateral stabilisation via active front steering and braking

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Abstract:

In this paper, we propose a path following Model Predictive Control-based (MPC) scheme utilising steering and braking. The control objective is to track a desired path for obstacle avoidance manoeuvre, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [F. Borrelli, et al., MPC-based approach to active steering for autonomous vehicle systems, Int. J. Veh. Autonomous Syst. 3(2/3/4) (2005), pp. 265-291.] and [P. Falcone, et al., Predictive active steering control for autonomous vehicle systems, IEEE Trans. Control Syst. Technol. 15(3) (2007), pp. 566-580.]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth-order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.

Keywords: autonomous vehicles; model predictive control; vehicle dynamics control

Document Type: Research Article

DOI: http://dx.doi.org/10.1080/00423110802018297

Affiliations: 1: Department of Signals and Systems, Chalmers University of Technology, Goteborg, Sweden 2: Ford Research Laboratories, Dearborn, MI, USA 3: Department of Mechanical Engineering, University of California, Berkeley, USA

Publication date: September 1, 2008

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