Advertisement

International Journal of Automotive Technology

, Volume 20, Issue 5, pp 1033–1042 | Cite as

Model Predictive Control for Evasive Steering of an Autonomous Vehicle

  • Hyunsik Nam
  • Wansik Choi
  • Changsun AhnEmail author
Article

Abstract

Model Predictive Control (MPC) is frequently used for the steering controllers of autonomous vehicles, and simple vehicle dynamics is usually used for the reference model. However, simple vehicle dynamics is not sufficient for evasive steering maneuvers that require very fast steering actions. The objective of this study is to design an MPC that works for such maneuvers. We considered the steering system model and vehicle model in the MPC design. The proposed steering model provides information about the disturbances, the bandwidth of the actuator, and the motor voltage while maintaining a simple structure. The controller computes less demanding desired steering angles that do not violate the voltage constraints at the cost of tracking error. Otherwise, the MPC would result in failure of the desired evasive maneuver due to voltage saturation causing failure of the steering angle tracking. A simulation and experimental results confirmed that evasive maneuvers are successfully performed with the proposed steering controller within the allowable voltage range, and it outperformed a regular MPC based on a simple vehicle model.

Key words

Autonomous vehicle Steering control Evasive steering Model predictive control Voltage constraint 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Notes

Acknowledgement

This research was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF), which is funded by the Ministry of Science, ICT & Future Planning (2016R1C1B1006540), and the Industry Core Technology Development Program (grant no.: 10076309), which is funded by the Ministry of Trade, Industry and Energy (MOTIE, Korea).

References

  1. Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E. and Hrovat, D. (2007a). Predictive active steering control for autonomous vehicle systems. IEEE Trans. Control Systems Technology 15, 3, 566–580.CrossRefGoogle Scholar
  2. Falcone, P., Tseng, H. E., Asgari, J., Borrelli, F. and Hrovat, D. (2007b). Integrated braking and steering model predictive control approach in autonomous vehicles. IFAC Proc. Volumes 40, 10, 273–278.CrossRefGoogle Scholar
  3. Falcone, P., Tufo, M., Borrelli, F., Asgari, J. and Tseng, H. E. (2007). A linear time varying model predictive control approach to the integrated vehicle dynamics control problem in autonomous systems. Proc. IEEE Conf. Decision and Control, New Orleans, Louisiana, USA.Google Scholar
  4. García, C. E., Prett, D. M. and Morari, M. (1989). Model predictive control: Theory and practice — A survey. Automatica 25, 3, 335–348.CrossRefzbMATHGoogle Scholar
  5. Germani, A., Manes, C. and Palumbo, P. (2007). State space representation of a class of mimo systems via positive systems. Proc. IEEE Conf. Decision and Control, New Orleans, Louisiana, USA.Google Scholar
  6. Kawakami, A. (1997). A state-space realization form of multi-input multi-output two-dimensional systems. Proc. 36th SICE Annual Conf., Tokushima, Japan.Google Scholar
  7. Keller, M., Hass, C., Seewald, A. and Bertram, T. (2014). Driving simulator study on an emergency steering assist. Proc. IEEE Int. Conf. Systems, Man, and Cybernetics (SMC), San Diego, California, USA.Google Scholar
  8. Kim, E., Kim, J. and Sunwoo, M. (2014). Model predictive control strategy for smooth path tracking of autonomous vehicles with steering actuator dynamics. Int. J. Automotive Technology 15, 7, 1155–1164.CrossRefGoogle Scholar
  9. Kim, J.-H. and Song, J.-B. (2002). Control logic for an electric power steering system using assist motor. Mechatronics 12, 3, 447–459.CrossRefGoogle Scholar
  10. Lee, D., Kim, K. and Kim, S. (2018). Controller design of an electric power steering system. IEEE Trans. Control Systems Technology 26, 2, 748–755.CrossRefGoogle Scholar
  11. Li, L., Jia, Z., Cheng, T. and Jia, X. (2011). Optimal model predictive control for path tracking of autonomous vehicle. Proc. Int. Conf. Measuring Technology and Mechatronics Automation, Shangshai, China.Google Scholar
  12. Marouf, A., Sentouh, C., Djemañ, M. and Pudlo, P. (2011). Control of an electric power assisted steering system using reference model. Proc. 50th IEEE Conf. Decision and Control and European Control Conf., Orlando, Florida, USA.Google Scholar
  13. Otter, P. W. and van Dal, R. (1989). State-space approximation of multi-input multi-output systems with stochastic exogenous inputs. Computers & Mathematics with Applications 18, 6-7, 529–538.MathSciNetCrossRefzbMATHGoogle Scholar
  14. Saifia, D., Chadli, M., Karimi, H. R. and Labiod, S. (2015). Fuzzy control for electric power steering system with assist motor current input constraints. J. Franklin Institute 352, 2, 562–576.MathSciNetCrossRefzbMATHGoogle Scholar
  15. Shim, T., Adireddy, G. and Yuan, H. (2012). Autonomous vehicle collision avoidance system using path planning and model-predictive-control-based active front steering and wheel torque control. Proc. Institution of Mechanical Engineers, Part D: J. Automobile Engineering 226, 6, 767–778.Google Scholar
  16. Son, C.-W., Choi, W. and Ahn, C. (2017). MPC-based steering control for backward-driving vehicle using stereo vision. Int. J. Automotive Technology 18, 5, 933–942.CrossRefGoogle Scholar
  17. Soudbakhsh, D., Eskandarian, A. and Moreau, J. (2011). An emergency evasive maneuver algorithm for vehicles. Proc. 14th Int. IEEE Conf. Intelligent Transportation Systems (ITSC), Washington, D.C., USA.Google Scholar
  18. Ulsoy, A. G., Peng, H. and Çakmakci, M. (2012). Automotive Control Systems. Cambridge University Press. Cambridge, UK.CrossRefGoogle Scholar
  19. Wei, L., Kong-Hui, G. and Jian-Wei, Z. (2010). Research on current control algorithm of electric power steering. Proc. WASE Int. Conf. Information Engineering, Beidaihe, Hebei, China.Google Scholar
  20. Yoshida, H., Shinohara, S. and Nagai, M. (2008). Lane change steering manoeuvre using model predictive control theory. Vehicle System Dynamics: Int. J. Vehicle Mechanics and Mobility 46, Supplement 1, 669–681.CrossRefGoogle Scholar
  21. Zaremba, A. and Davis, R. I. (1995). Dynamic analysis and stability of a power assist steering system. Proc. American Control Conf., Seattle, Washington, D.C., USA.Google Scholar
  22. Zaremba, A. T., Liubakka, M. K. and Stuntz, R. M. (1998). Control and steering feel issues in the design of an electric power steering system. Proc. American Control Conf., Philadelphia, Pennsylvania, USA.Google Scholar

Copyright information

© KSAE 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringPusan National UniversityBusanKorea

Personalised recommendations