Linear Time Varying Model Predictive Control Approach to the Integrated Vehicle Dynamics Control Problem in Autonomous Systems

• 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.

Ämnesord

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

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

Publikations- och innehållstyp

kon (ämneskategori)

ref (ämneskategori)