The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Predictive Active Steering Control for Autonomous Vehicle Systems
Open accessAbstract
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 speed. We present two approaches with different computational complexities. In the first approach, we formulate the MPC problem by using a nonlinear vehicle model. The second approach is based on successive online linearization of the vehicle model. Discussions on computational complexity and performance of the two schemes are presented. The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads
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Cites
Constrained model predictive control: Stability and optimality
Mayne, D. Q., Rawlings, J. B., Rao, C. V., & Scokaert, P. O. M. (2000) · Automatica · doi:10.1016/s0005-1098(99)00214-9 · Cited by 8,736
Cited by
Wamba-Taguimdje, S.-L., Fosso Wamba, S., Kala Kamdjoug, J. R., & Tchatchouang Wanko, C. E. (2020) · Business Process Management Journal · doi:10.1108/bpmj-10-2019-0411 · Cited by 1,280
Planning and Decision-Making for Autonomous Vehicles
Schwarting, W., Alonso-Mora, J., & Rus, D. (2018) · Annual Review of Control, Robotics, and Autonomous Systems · doi:10.1146/annurev-control-060117-105157 · Cited by 972
Antoniadi, A. M., Du, Y., Guendouz, Y., Wei, L., Mazo, C., Becker, B. A., & Mooney, C. (2021) · Applied Sciences · doi:10.3390/app11115088 · Cited by 629
A survey of data fusion in smart city applications
Lau, B. P. L., Marakkalage, S. H., Zhou, Y., Hassan, N. U., Yuen, C., Zhang, M., & Tan, U.-X. (2019) · Information Fusion · doi:10.1016/j.inffus.2019.05.004 · Cited by 320
Wu, Y., Wang, L., Zhang, J., & Li, F. (2019) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2019.2916982 · Cited by 247
Metadata
- Authors
- Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E., & Hrovat, D.
- Venue
- IEEE Transactions on Control Systems Technology
- Published
- 2007-05
- Volume
- 15
- Issue
- 3
- Pages
- 566-580
- ISSN
- 1063-6536 (ISSN-L)
- OpenAlex
- W2112930335
- Cited by
- 1,408
- References
- 1
- FWCI
- 71.43
- Type
- journal article
- Language
- en
- Open access
- green
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- Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E., & Hrovat, D. (2007). Predictive Active Steering Control for Autonomous Vehicle Systems. IEEE Transactions on Control Systems Technology. https://doi.org/10.1109/tcst.2007.894653
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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