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

By Paolo Falcone, H. Eric Tseng, Francesco Borrelli, Jahan Asgari, Davor Hrovat. 2008

399 citations recorded by the source corpus.

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., MPC-based approach to active steering for autonomous vehicle systems, Int. J. Veh. Autonomous Syst. 3(2/3/4) (2005), pp. 265–291.] and [P. Falcone, et al., Predictive active steering control for autonomous vehicle systems, IEEE Trans. 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.

Subfields: Automotive Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/463a81c6fc764c77fb82d1bffc5744ff4059aaa3

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Automotive Engineering

1. Chuanyang Sun
2. Azim Eskandarian
3. Stefano Di Cairano
4. Chaoxian Wu
5. Francesco Borrelli

In Control and Systems Engineering

1. Stefano Di Cairano
2. Alberto Bemporad
3. Chuanyang Sun
4. H. E. Tseng
5. Azim Eskandarian
6. Chaoxian Wu
7. Francesco Borrelli
8. Manfred Morari

Citations in the corpus

• Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain (2013, methodology): “For vehicle stability control, lineartime varying MPC (LTV-MPC) and nonlinear MPC (NMPC) have been applied to autonomous vehicles in [26].”
• Research Advances and Challenges of Autonomous and Connected Ground Vehicles (2019, background): “However, when it comes to a high-speed cornering situation, the lateral load transfer between inner and outer wheel is significant [444], which causes the trajectory tracking controller based on the bicycle model not to be able to eliminate the tracking error and stabilize the vehicle [445], [446].”