Application of Local Linear Steering Models with Model Predictive Control for Collision Avoidance Maneuvers

Collision avoidance systems demand sophisticated control algorithms to ensure driving on a safe preplanned path. Model predictive control (MPC) is suitable for this task as different influences can be considered by the algorithm. However MPC requires a model of the plant to guarantee good control characteristics. Especially the task to generate a simple steering model covering the considered range of vehicle dynamics is challenging. In this work a concept for an adaptive steering model is presented. The adaptive steering model is integrated in a model predictive control concept for collision avoidance maneuvers. Simulation results show improvement in prediction quality, while achieving modest improvement in control performance.