Title :
Predictive control of autonomous steering for ground vehicles
Author :
Rafaila, Razvan C. ; Livint, Gheorghe
Author_Institution :
Gheorghe Asachi Tech. Univ., Iasi, Romania
Abstract :
Current research in the automotive industry is tending more and more to developing control systems for complete autonomous driving vehicles. In this paper our aim is to present a nonlinear predictive control approach for automatic steering and present simulation results to show the performance of the proposed controller for the autonomous driving vehicle.
Keywords :
nonlinear control systems; predictive control; road traffic control; road vehicles; steering systems; automotive industry; autonomous driving vehicle; autonomous steering control; ground vehicles; nonlinear predictive control approach; Cost function; Mathematical model; Predictive control; Predictive models; Trajectory; Vehicles; bicycle model; cost function; linear optimization; model predictive control; nonlinear optimization; point mass model;
Conference_Titel :
Advanced Topics in Electrical Engineering (ATEE), 2015 9th International Symposium on
Conference_Location :
Bucharest
DOI :
10.1109/ATEE.2015.7133880
