Title: MPC-based approach to active steering for autonomous vehicle systems

Authors: F. Borrelli, P. Falcone, T. Keviczky, J. Asgari, D. Hrovat

Addresses: Dipartimento di Ingegneria, Universita degli Studi del Sannio, 82100 Benevento, Italy. ' Dipartimento di Ingegneria, Universita degli Studi del Sannio, 82100 Benevento, Italy. ' Department of Aerospace Engineering and Mechanics, University of Minnesota, Minneapolis, MN 55455, USA. ' Ford Research Laboratories, Dearborn, MI 48124, USA. ' Ford Research Laboratories, Dearborn, MI 48124, USA

Abstract: In this paper, a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilise a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering manoeuvres are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilise the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.

Keywords: active steering; double lane change; hybrid control; model predictive control; non-linear optimisation; steering robots; vehicle dynamics; vehicle stability; autonomous vehicle systems; simulation; autonomous steering; active safety; obstacle avoidance; automotive safety.

DOI: 10.1504/IJVAS.2005.008237

International Journal of Vehicle Autonomous Systems, 2005 Vol.3 No.2/3/4, pp.265 - 291

Available online: 25 Nov 2005 *

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