The usual model embedded in MPC for steering control is vehicle dynamics without steering dynamics because such steering dynamics are ignorable in usual maneuvers. However, the dynamics of the steering system need to consider when a maneuver requires high angular velocity. Therefore, this paper proposes MPC model include steering and vehicle model that can provide information on disturbances and voltage.
Evasive Steering Control using Model Predictive Control
2019-11-01
70804 byte
Conference paper
Electronic Resource
English
Model Predictive Control for Evasive Steering of Autonomous Vehicle
Springer Verlag | 2020
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Online Contents | 2019
|Model Predictive Control for Evasive Steering of an Autonomous Vehicle
Springer Verlag | 2019
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