A Model Predictive Control (MPC) -based approach is presented for autonomous path following via Active Front Steering (AFS). We start from the Nonlinear MPC (NMPC) problem formulations in  and , where a simple bicycle model is used, and reformulate the same problem by using a more complex vehicle model including roll dynamics. We present and discuss simulation results of a vehicle autonomously performing high speed double lane change maneuvers, where load transfer effects due to roll dynamics become relevant. The results demonstrate that the inclusion of the roll dynamics in the prediction model of the MPC controller significantly improves the vehicle behavior at high speed on high friction surfaces, when significant lateral load transfers occur.
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