MPC-based active steering for autonomous vehicle systems

Abstract

In this paper, we present how model predictive control (MPC) is applied to lane keeping system (LKS). Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may cause uncomfortable steering control rate in a high vehicle speed. By applying MPC to active steering, the proposed MPC-based active steering prevents undesirable oscillatory steering control command even at a vehicle speed of 30[㎧]. The effectiveness of the MPC is validated by simulation for the LKS equipped with a camera module having a slow sampling rate.