Predictive control approach to autonomous vehicle steering

Author

Keviczky, Tamás ; Falcone, Paolo ; Borrelli, Francesco ; Asgari, Jahan ; Hrovat, Davor

Author_Institution

Dept. of Aerosp. Eng. & Mech., Minnesota Univ., Minneapolis, MN

fYear

2006

fDate

14-16 June 2006

Abstract

A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted

Keywords

control system synthesis; motion control; predictive control; remotely operated vehicles; road vehicles; stability; steering systems; active steering; autonomous vehicle steering; autonomous vehicle systems; controller design; double lane change maneuver; model predictive control; side wind rejection; slippery surfaces; vehicle stabilization; Aerodynamics; Control systems; Mobile robots; Predictive control; Remotely operated vehicles; Road safety; Road vehicles; Stability; Vehicle dynamics; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1657458

Filename

1657458