On pre-emptive vehicle stability control
View/ Open
Bibliography Export
Statistics
View Usage StatisticsFull record
Show full item recordAuthor/s
Parra, Alberto; Tavernini, Davide; Gruber, Patrick; Sorniotti, Aldo; Zubizarreta, Asier; [et al.]Date
2021Keywords
Nonlinear model predictive control
Stability control
Torque-vectoring
Direct yaw moment control
Trail braking
Pre-emptive control
Abstract
Future vehicle localisation technologies enable major enhancements of vehicle dynamics control. This study proposes a novel vehicle stability control paradigm, based on pre-emptive control that considers the curvature profile of the expected path ahead in the computation of the reference direct yaw moment and braking control action. The additional information allows pre-emptive trail braking control, which slows down the vehicle if the predicted speed profile based on the current torque demand is deemed incompatible with the reference trajectory ahead. Nonlinear model predictive control is used to implement the approach, in which also the steering angle and reference yaw rate provided to the internal model are varied along the prediction horizon, to account for the expected vehicle path. Two pre-emptive stability control configurations with different levels of complexity are proposed and compared with the passive vehicle, and two state-of-the-art nonlinear model predictive stability ...
Type
journal article