In this paper, we propose a path following Model Predictive Control-based (MPC) scheme utilising steering and braking. The control objective is to track a desired path for obstacle avoidance manoeuvre, by a combined use of braking and steering. The proposed control scheme relies on the Nonlinear MPC (NMPC) formulation we used in [F. Borrelli, et al., MPC-based approach to active steering for autonomous vehicle systems, Int. J. Veh. Autonomous Syst. 3(2/3/4) (2005), pp. 265–291.] and [P. Falcone, et al., Predictive active steering control for autonomous vehicle systems, IEEE Trans. Control Syst. Technol. 15(3) (2007), pp. 566–580.]. In this work, the NMPC formulation will be used in order to derive two different approaches. The first relies on a full tenth-order vehicle model and has high computational burden. The second approach is based on a simplified bicycle model and has a lower computational complexity compared to the first. The effectiveness of the proposed approaches is demonstrated through simulations and experiments.


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    Title :

    MPC-based yaw and lateral stabilisation via active front steering and braking


    Contributors:

    Published in:

    Vehicle System Dynamics ; 46 , sup1 ; 611-628


    Publication date :

    2008-09-01


    Size :

    18 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    MPC-based yaw and lateral stabilisation via active front steering and braking

    Falvone,P. / Tseng,H.E. / Rorrelli,F. et al. | Automotive engineering | 2008


    MPC-based yaw and lateral stabilisation via active front steering and braking

    Falcone, Paolo / Tseng, H.Eric / Borrelli, Francesco et al. | Tema Archive | 2008