Title: Experimental validation of integrated steering and braking model predictive control

Authors: P. Falcone, F. Borrelli, H.E. Tseng, J. Asgari, D. Hrovat

Addresses: Department of Signals and Systems, Chalmers University of Technology, Goteborg, SE-41296, Sweden. ' Department of Mechanical Engineering, University of California, Berkeley, CA 94720-1740, USA. ' Ford Research Laboratories, Dearborn, MI 48124, USA. ' Ford Research Laboratories, Dearborn, MI 48124, USA. ' Ford Research Laboratories, Dearborn, MI 48124, USA

Abstract: 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 autonomously performs a double-lane change manoeuvre by simultaneously coordinating the front steering and the braking torques at the four wheels. The manoeuvres are performed at high speed on slippery surfaces to operate close to the vehicle stability limits. Experimental tests of double-lane change manoeuvres at 70 kph are shown and complex countersteering manoeuvres are presented and discussed.

Keywords: MPC; model predictive control; autonomous vehicles; vehicle dynamics; vehicle control; vehicle stability; active safety systems; double-lane change; front steering; braking torques; high speed; slippery surfaces; countersteering manoeuvres.

DOI: 10.1504/IJVAS.2009.033265

International Journal of Vehicle Autonomous Systems, 2009 Vol.7 No.3/4, pp.292 - 309

Published online: 14 May 2010 *

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