Lateral vehicle stabilization using constrained nonlinear control

A lateral stabilization system for automotive vehicles is designed based on nonlinear constrained receding horizon control. An explicit piecewise linear control law approximating the optimal solution is computed off-line, giving a computationally efficient on-line solution which can be implemented with low real-time software complexity on inexpensive hardware. Simulations show that the controller is able to stabilize the vehicle in extreme maneuvers where the vehicle otherwise becomes unstable.