Lane change steering manoeuvre using model predictive control theory
Abstract:This paper is a fundamental study on steering manoeuvre (driver model) when the steering angle input is obtained via Model Predictive Control (MPC). Conventional front steering angle for the lane change manoeuvre uses the sine wave input. This is very simple but this feed forward control input does not have adequate performance for mounting on real vehicle. For this reason, the steering input using MPC is developed. For example, the collision avoidance of lane-change steering manoeuvre has to deal with many constraints, so that the servo control like an LQI theory is not suitable for this problem. In addition, offline nonlinear programming calculation for optimal steering input of vehicle trajectory involves too heavy computational complexity to apply with real-time controllers. Desired control of the lane-change performance is conducted by the MPC approach with the constraint conditions. Potential advantage of the collision avoidance steering compared to the hard braking is estimated.
Document Type: Research Article
Affiliations: 1: Department of Mechanical Systems Engineering, National Defense Academy, Yokosuka-shi, Japan 2: Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei-shi, Tokyo, Japan
Publication date: September 1, 2008