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dc.contributor.authorParra, Alberto
dc.contributor.authorTavernini, Davide
dc.contributor.authorGruber, Patrick
dc.contributor.authorSorniotti, Aldo
dc.contributor.authorZubizarreta, Asier
dc.contributor.authorPérez, Joshué
dc.date.accessioned2021-04-13T18:22:45Z
dc.date.available2021-04-13T18:22:45Z
dc.date.issued2021
dc.identifier.citationParra, Alberto, Davide Tavernini, Patrick Gruber, Aldo Sorniotti, Asier Zubizarreta, and Joshué Pérez. “On Pre-Emptive Vehicle Stability Control.” Vehicle System Dynamics (March 30, 2021): 1–26. doi:10.1080/00423114.2021.1895229.en
dc.identifier.issn0042-3114en
dc.identifier.urihttp://hdl.handle.net/11556/1111
dc.description.abstractFuture 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 controllers, one with and one without non-pre-emptive trail braking control. The performance is assessed along obstacle avoidance tests, simulated with a high-fidelity model of an electric vehicle with in-wheel motors. Results show that the pre-emptive controllers achieve higher maximum entry speeds – up to ∼34% and ∼60% in high and low tyre-road friction conditions – than the formulations without preview.en
dc.description.sponsorshipThis work was supported in part by the Horizon 2020 Framework Programme of the European Commission under grant agreements no. 769944 (STEVE project) and no. 824311 (ACHILES project).en
dc.language.isoengen
dc.publisherTaylor and Francis Ltd.en
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.titleOn pre-emptive vehicle stability controlen
dc.typearticleen
dc.identifier.doi10.1080/00423114.2021.1895229en
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/STEVEen
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/824311/EU/Advanced Architectures Chassis/Traction concept for Future Electric vehicles/ACHILESen
dc.rights.accessRightsopenAccessen
dc.subject.keywordsNonlinear model predictive controlen
dc.subject.keywordsStability controlen
dc.subject.keywordsTorque-vectoringen
dc.subject.keywordsDirect yaw moment controlen
dc.subject.keywordsTrail brakingen
dc.subject.keywordsPre-emptive controlen
dc.identifier.essn1744-5159en
dc.journal.titleVehicle System Dynamicsen
dc.page.final26en
dc.page.initial1en


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