2021
DOI: 10.1109/access.2021.3124216
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A Stereo Vision-Aided Receding Horizon Vehicle Dynamic Control System for Independent Drive Vehicles Steered by Wire

Abstract: This paper proposes a stereo vision-aided receding horizon vehicle dynamic control system for independent drive vehicles steered by wire. First, we propose the receding horizon vehicle dynamic control (RHVDC) to track the desired slip angle and yaw rate of a dynamic vehicle. The RHVDC computes and updates control inputs at each sampling time to minimize a quadratic cost function over the finite future time horizon, allowing it to address the time-varying property of dynamic vehicles. Its stability is shown to … Show more

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