Title :
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
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;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657458
