DocumentCode
696187
Title
Autonomous vehicle steering using explicit LPV-MPC
Author
Besselmann, Thomas ; Morari, Manfred
Author_Institution
Autom. Control Lab., ETH Zurich, Zurich, Switzerland
fYear
2009
fDate
23-26 Aug. 2009
Firstpage
2628
Lastpage
2633
Abstract
In this paper a novel control approach for Active Steering of automotives is presented. Explicit LPV-MPC is employed to derive a controller which requires only little online computations. The achieved control performance is compared to nonlinear MPC and explicit linear MPC in a double lane-change maneuver at different driving speeds.
Keywords
automobiles; linear parameter varying systems; nonlinear control systems; predictive control; steering systems; active automotive steering; autonomous vehicle steering; control approach; control performance; double lane-change maneuver; driving speeds; explicit LPV-MPC; explicit linear MPC; linear parameter-varying systems; model predictive control; nonlinear MPC; Approximation methods; Computational modeling; Force; Roads; Tires; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2009 European
Conference_Location
Budapest
Print_ISBN
978-3-9524173-9-3
Type
conf
Filename
7074802
Link To Document