ACTIVE FRONT STEERING LTV MPC FOR VARYING FRICTION CONDITIONS

The developed Active Front Steering (AFS) Linear Time Variant (LTV)Model Predictive Control (MPC) is a linear model predictive control based on linearization of the nonlinear vehicle model. A sensitivity analysis of the parameters of the controller is carried out on a simple path following test. Once the optimal parameters are found, both in terms of trajectory following and real-time performances, the LTV-MPC is used for determining the requirements for the necessary sensors (in terms of minimum obstacle distance detection) as a function of the vehicle speed. Then, the same analysis is carried out considering wet road conditions (i.e. the tyreroad friction coefficient is different from that accounted forby the controller).