Predictive control approach to autonomous vehicle steering | IEEE Conference Publication | IEEE Xplore

Predictive control approach to autonomous vehicle steering


Abstract:

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 desire...Show More

Abstract:

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
Date of Conference: 14-16 June 2006
Date Added to IEEE Xplore: 24 July 2006
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Conference Location: Minneapolis, MN, USA

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