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

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, WC-based approach to active steering for autonomous vehicle systems, Int. J. Veh. Autonomous Syst. 3(2/3/4) (2005). pp. 265-29L] and [P. Falcone. et al., Predictive active steering control for autonomous vehicle systems, I FEE Tran.. 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.