Implementing Model Predictive Control (MPC) in Steer-by-Wire Systems for Future Automated Vehicles

Abstract

The need for future green sustainable transportation represents a motivation for the researchers in order to create a better society. In this paper a proposed Steer-by-Wire system for future automated vehicles is analysed by implementing model predictive control (MPC) controller that would optimise the desired behaviour of the vehicle. By using MATLAB/Simulink, a bicycle vehicle model is simulated in standardised test manoeuvres according to standard ISO:7401. These results are used as referent data for the desired trajectory of the vehicle and as input data for the MPC controller. The idea of using these results for the controller is generated by the desire of creating a shared information intelligent systems. Shared information and control in the future intelligent systems would be crucial for creating the desired sustainable transport. By traveling, the vehicle would collect data of the desired measured variables and those data would be send to every other vehicle. Therefore, the next vehicle would possess the previous data and would try to improve the vehicle response and safety. Every optimised trajectory would be shared with the rest of the vehicles and this cycle would result in further optimization and in creation of a safer, more comfortable and more sustainable transport. The optimisation is done by the MPC controller which is responsible for defining the steering wheel angle and therefore creating the Steer-by-Wire system that is entirely defined by the MPC controller without driver commands. By comparing the trajectory of the automated vehicle and the desired trajectory gained from the previous simulations, the desired steering wheel angle is defined. This results in creation of a Steer-by-Wire system that improves the vehicle dynamics, safety and dynamic response of the vehicle. The mathematical modelling, results of the simulations and advantages of using the MPC controller for the Steer-by-Wire system in automated vehicle are presented.