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In this paper we present a Model Predictive Control (MPC) approach for combined braking and steering systems in autonomous vehicles. We start from the result presented in F. Borrelli et al. (2005) and P. Falcone et al. (2006), where a Model Predictive Controller (MPC) for autonomous steering systems has been presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle and the brakes at the four wheels independently, while fulfilling various physical and design constraints.
Falcone et al. (2007) studied this question.