Predictive control approach to autonomous vehicle steering

被引：32
作者：
Keviczky, Tamas [1 ]
Falcone, Paolo [2 ]
Borrelli, Francesco [2 ]
Asgari, Jahan [3 ]
Hrovat, Davor [3 ]
机构：
[1] Univ Minnesota, Dept Aerosp Engn & Mech, Minneapolis, MN 55455 USA
[2] Sannio Univ, Dipartimento Ingn, I-82100 Benevento, Italy
[3] Ford Res Lab, Dearborn, MI 48124 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1657458
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A model predictive control (MPC) approach to active steering is presented for autonomous vehicle systems. The controller is designed to stabilize a vehicle along a desired path while rejecting wind gusts and fulfilling its physical constraints. Simulation results of a side wind rejection scenario and a double lane change maneuver on slippery surfaces show the benefits of the systematic control methodology used. A trade-off between the vehicle speed and the required preview on the desired path for vehicle stabilization is highlighted.
引用
收藏
页码：4670 / +
页数：2
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