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

Authors :
Falcone, Paolo
Tseng, H. Eric
Borrelli, Francesco
Asgari, Jahan
Hrovat, Davor
Source :
Vehicle System Dynamics; Sep2008 Supplement 1, Vol. 46, p611-628, 18p
Publication Year :
2008

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. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00423114
Volume :
46
Database :
Complementary Index
Journal :
Vehicle System Dynamics
Publication Type :
Academic Journal
Accession number :
48993147
Full Text :
https://doi.org/10.1080/00423110802018297