In this paper a novel approach to autonomous steering systems is presented. A model predictive control (MPC) scheme is designed in order to stabilize a vehicle along a desired path while fulfilling its physical constraints. Simulation results show the benefits of the systematic control methodology used. In particular we show how very effective steering maneuvers are obtained as a result of the MPC feedback policy. Moreover, we highlight the trade off between the vehicle speed and the required preview on the desired path in order to stabilize the vehicle. The paper concludes with highlights on future research and on the necessary steps for experimental validation of the approach.
Borrelli et al. REF propose a nonlinear MPC to stabilize the vehicle along a desired path, but there is a trade-off between planning speed and the prediction horizon.
MPC-based approach to active steering for autonomous vehicle systems
International Journal of Vehicle Autonomous Systems
Engineering