Predictive Active Steering Control for Autonomous Vehicle Systems

Abstract

In this paper, a model predictive control (MPC) approach for controlling an active front steering system in an autonomous vehicle is presented. At each time step, a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to follow the trajectory on slippery roads at the highest possible entry… (More)
DOI: 10.1109/TCST.2007.894653

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