Article Per Year (5 Year)
p-Index From 2021 - 2026
0.339
P-Index
This Author published in this journals
All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control)
Armin Sofijan
Universitas Sriwijaya
Computer Science & IT

Published : 1 Documents Claim Missing Document
Claim Missing Document
Check
Articles

Found 1 Documents
Search

 1 
Performance assessment of an adaptive model predictive control with torque braking for lane changes Zulkarnain Zulkarnain; Irwin Bizzy; Armin Sofijan; Mohd Hatta Mohammed Ariff
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 24, No 2: April 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v24i2.27167

Abstract

The growing demand for autonomous vehicles requires robust control systems that can maintain safety during complex maneuvers like lane changes. However, a significant research gap exists in developing controllers that effectively manage the combined challenges of steering and braking across diverse and unpredictable driving conditions, such as varying speeds and low-friction road surfaces. This research addresses this gap by proposing and evaluating an adaptive model predictive control (MPC) system integrated with a torque braking distribution strategy. The key advantage of our adaptive method is its ability to continuously update its internal model in real-time, allowing it to anticipate and respond to changing road friction and vehicle dynamics more effectively than a static controller. In simulations of a lane change maneuver across speeds of 10-25 m/s and road friction levels from 0.3 (icy) to 1 (dry asphalt), the proposed system demonstrated a substantial performance improvement. The proposed framework demonstrated a 52.8% average reduction in lateral tracking error and enhanced stability by reducing the yaw rate by up to 41.8% on low-friction surfaces, compared to a non-adaptive MPC baseline. These results quantitatively confirm that our framework’s synergistic coordination of steering and braking significantly enhances the safety, precision, and reliability of autonomous lane change maneuvers.
Co-Authors Irwin Bizzy Mohd Hatta Mohammed Ariff Zulkarnain Zulkarnain