| 1. |
- Falcone, Paolo, 1977, et al.
(författare)
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A Model Predictive Control Approach for Combined Braking and Steering in Autonomous Vehicles
- 2007
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Ingår i: 15th Mediterranean Conference on Control and Automation, Athens, Greece, June 2007.
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles. We start from the result presented in [1] and [2], where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle and the brakes at the four wheels independently, while fulfilling various physical and design constraints.
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| 2. |
- Falcone, Paolo, 1977, et al.
(författare)
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Integrated Braking and Steering Model Predictive Control Approach in Autonomous Vehicles
- 2007
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Ingår i: 5-th IFAC Symposium on Advances in Automotive Control, Berkeley, CA, USA, August 2007.
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles. We start from the result presented in (Borrelli et al. (2005)) and (Falcone et al. (2007a)), wherea Model Predictive Controller (MPC) for autonomous steering systems has been presented. As in (Borrelli et al. (2005)) and (Falcone et al. (2007a)) we formulate an MPC control problem in order to stabilize a vehicle along a desired path. In the present paper, the control objective is to best follow a given path by controlling the front steering angle and the brakes at the four wheels independently, while fulfilling various physical and design constraints.
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| 3. |
- Falcone, Paolo, 1977, et al.
(författare)
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Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems
- 2007
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Ingår i: 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, December 2007.
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Konferensbidrag (refereegranskat)abstract
- A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC). Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.
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| 4. |
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| 5. |
- Falcone, Paolo, 1977, et al.
(författare)
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Predictive Active Steering Control for Autonomous Vehicle Systems
- 2007
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Ingår i: IEEE Transactions on Control Systems Technology. ; 15:3, s. 566-580
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Tidskriftsartikel (refereegranskat)abstract
- In this paper a Model Predictive Control (MPC) approach for controlling an Active Front Steering system in an autonomous vehicle is presented. At each time step a trajectory in assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to follow the trajectory on slippery roads at the highest possible entry speed. We present two approaches with different computational complexities. In the first approach we formulate the MPC problem by using a non-linear vehicle model. The second approach is based on successive on-line linearization of the vehicle model. Discussions on computational complexity and performance of the two schemes are presented. The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads.
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