RT Journal Article
T1 On pre-emptive vehicle stability control
A1 Parra, Alberto
A1 Tavernini, Davide
A1 Gruber, Patrick
A1 Sorniotti, Aldo
A1 Zubizarreta, Asier
A1 Pérez, Joshué
AB 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 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.
SN 0042-3114
YR 2021
FD 2021
LA eng
NO Parra , 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
NO Publisher Copyright: © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.
DS TECNALIA Publications
RD 3 jul 2024