Experimental validation of integrated steering and braking model predictive control. (17th May 2010)

• Record Type: Journal Article
• Authors: Falcone, P.; Borrelli, F.; Tseng, H.E.; Asgari, J.; , D. Hrovat
• Is Part Of: International journal of vehicle autonomous systems. Volume 7:Number 3/4(2009)
• Page Start: 292
• Page End: 309
• Publication Date: 2010-05-17
• Subjects: MPC -- model predictive control -- autonomous vehicles -- vehicle dynamics -- vehicle control -- vehicle stability -- active safety systems -- double-lane change -- front steering -- braking torques -- high speed -- slippery surfaces -- countersteering manoeuvres; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

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 autonomously performs a double-lane change manoeuvre by simultaneously coordinating the front steering and the braking torques at the four wheels. The manoeuvres are performed at high speed on slippery surfaces to operate close to the vehicle stability limits. Experimental tests of double-lane change manoeuvres at 70 kph are shown and complex countersteering manoeuvres are presented and discussed.