Experimental Validation of Integrated Steering and Braking Model Predictive Control

• In this paper we present and discuss an in-vehicle experimental validation of an integrated steering and braking Model Predictive Control (MPC) algorithm. The experimental results are obtained in autonomous path following tests, where the vehicle has to autonomously perform a double lane change maneuver by simultaneously coordinating the front steering and the braking torques at the four wheels.The maneuvers are performed at high speed on slippery surfaces in order tooperate close to the vehicle stability limits.The proposed controller is an MPC based on successive on-line linearizations of the nonlinear vehicle model. Experimental tests of a double lane change maneuvers at 70 Kph are shown and complex countersteering maneuvers are presented and discussed.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik -- Farkostteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

vehicle dynamics control

double lane change

model predictive control

vehicle stability

autonomous vehicles

active safety systems

Publikations- och innehållstyp

art (ämneskategori)

ref (ämneskategori)