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.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Article Media
model predictive control;
vehicle dynamics control
Document Type: Research Article
Department of Signals and Systems, Chalmers University of Technology, Goteborg, Sweden
Ford Research Laboratories, Dearborn, MI, USA
Department of Mechanical Engineering, University of California, Berkeley, USA
Publication date: 2008-09-01