# 2437 / Improving predictive control methods on off-road vehicles with realistic steering preview\... Title: Improving predictive control methods on off-road vehicles with realistic steering preview inputs Authors: Andries Peenze and Schalk Els Abstract: This paper investigates improvements to predictive control methods for off-road vehicles with the addition of realistic steering preview. The objective of this study is to improve the performance and efficacy of predictive controllers by accounting for significant time delays in active and semi-active systems on vehicles. The zero-order and first-order hold methods for steer preview are compared to a more realistic steer preview obtained from the curvature of the path, vehicle velocity, and tyre lateral force properties. A new semi-active suspension system, rear wheel steering, and individual brake control are used as the actuators on this off-road vehicle. The results show that the addition of a realistic steering preview improves the handling performance of the vehicle in a severe manoeuvre without affecting normal driving on smooth and rough roads. The controller can pre-empt and consider the effect of the actuator time delays, and the preview states from the predictive controller are more representative over the prediction horizon. In conclusion, the findings suggest that the addition of a realistic steering preview improves the performance of a predictive controller on vehicles, and further investigation of other disturbances and their preview effects on the system should be conducted to find further improvements for predictive control strategies on vehicles. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://2023.istvs.org/submissions/papers/2437.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.