On pre-emptive vehicle stability control

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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.contributor.institutionTecnalia Research & Innovation
dc.contributor.institutionCCAM
dc.date.issued2021
dc.descriptionPublisher Copyright: © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.
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.statusPeer reviewed
dc.format.extent26
dc.format.extent3139298
dc.identifier.citationParra , A , Tavernini , D , Gruber , P , Sorniotti , A , Zubizarreta , A & Pérez , J 2021 , ' On pre-emptive vehicle stability control ' , Vehicle System Dynamics , vol. 60 , no. 6 , pp. 2098-2123 . https://doi.org/10.1080/00423114.2021.1895229
dc.identifier.doi10.1080/00423114.2021.1895229
dc.identifier.issn0042-3114
dc.identifier.otherresearchoutputwizard: 11556/1111
dc.identifier.urlhttp://www.scopus.com/inward/record.url?scp=85103574497&partnerID=8YFLogxK
dc.language.isoeng
dc.relation.ispartofVehicle System Dynamics
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subject.keywordsNonlinear model predictive control
dc.subject.keywordsStability control
dc.subject.keywordsTorque-vectoring
dc.subject.keywordsDirect yaw moment control
dc.subject.keywordsTrail braking
dc.subject.keywordsPre-emptive control
dc.subject.keywordsNonlinear model predictive control
dc.subject.keywordsStability control
dc.subject.keywordsTorque-vectoring
dc.subject.keywordsDirect yaw moment control
dc.subject.keywordsTrail braking
dc.subject.keywordsPre-emptive control
dc.subject.keywordsAutomotive Engineering
dc.subject.keywordsSafety, Risk, Reliability and Quality
dc.subject.keywordsMechanical Engineering
dc.subject.keywordsProject ID
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/STEVE
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/824311/EU/Advanced Architectures Chassis/Traction concept for Future Electric vehicles/ACHILES
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/STEVE
dc.subject.keywordsinfo:eu-repo/grantAgreement/EC/H2020/824311/EU/Advanced Architectures Chassis/Traction concept for Future Electric vehicles/ACHILES
dc.subject.keywordsFunding Info
dc.subject.keywordsThis 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).
dc.subject.keywordsThis 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).
dc.titleOn pre-emptive vehicle stability controlen
dc.typejournal article
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