A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems

Abstract

A Model Predictive Control (MPC) approach for controlling active front steering, active braking and active differentials in an autonomous vehicle is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle, brakes and traction at the four wheels independently, while fulfilling various physical and design constraints. At each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the system inputs in order to best follow the desired trajectory on slippery roads at a given entry speed. We start from the results presented in [1], [2] and formulate the MPC problem based on successive on-line linearization of the nonlinear vehicle model (LTV MPC).Simulative results are presented, interpreted and compared against LTV MPC schemes which make use only of steering and/or braking.

Integrated stability and traction control for electric vehicles using model predictive control

“…The controller is tested in simulations with different cars and provides satisfactory performance. A similar method is used in (Falcone, Tufo, Borrelli, Asgari & Tseng, 2007;Turri, Carvalho, Tseng, Johansson & Borrelli, 2013;Beal, 2011;Jalaliyazdi, Khajepour, Chen & Litkouhi, 2015). To improve the robustness of the controller to uncertainties such as modeling uncertainties, some authors use reachability analysis and invariant set theory (Blanchini and Miani, 2008;Raković and Barić, Morari).…”

Experimental testing of a semi-autonomous multi-vehicle collision avoidance algorithm at an intersection testbed

“…The disturbance d steer,i is due to the fact that the steering input affects, to some extent, the speed of the four-wheeled car [24]. The fact that the testbed is not completely flat appears as the disturbance d slope,i .…”

Study on Integrated Control of AFS and DYC for Active Obstacle Avoidance

“…Because of good control effect, strong robustness, and can systematically deal with the various constraints and non-linearity of the control object, the MPC has become a new hotspot in the control research, especially for the vehicle dynamics problems. The papers [6][7][8][9][10][11][12] use the MPC theory to study the path planning and tracking control of intelligent vehicle.…”