Parra, AlbertoTavernini, DavideGruber, PatrickSorniotti, AldoZubizarreta, AsierPérez, Joshué2021Parra , 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/10.1080/00423114.2021.18952290042-3114researchoutputwizard: 11556/1111Publisher Copyright: © 2021 The Author(s). Published by Informa UK Limited, trading as Taylor & Francis Group.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.263139298enginfo:eu-repo/semantics/openAccessjournal article10.1080/00423114.2021.1895229Nonlinear model predictive controlStability controlTorque-vectoringDirect yaw moment controlTrail brakingPre-emptive controlNonlinear model predictive controlStability controlTorque-vectoringDirect yaw moment controlTrail brakingPre-emptive controlAutomotive EngineeringSafety, Risk, Reliability and QualityMechanical EngineeringProject IDinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/STEVEinfo:eu-repo/grantAgreement/EC/H2020/824311/EU/Advanced Architectures Chassis/Traction concept for Future Electric vehicles/ACHILESinfo:eu-repo/grantAgreement/EC/H2020/769944/EU/Smart-Taylored L-category Electric Vehicle demonstration in hEtherogeneous urbanuse-cases/STEVEinfo:eu-repo/grantAgreement/EC/H2020/824311/EU/Advanced Architectures Chassis/Traction concept for Future Electric vehicles/ACHILESFunding InfoThis 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).This 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).http://www.scopus.com/inward/record.url?scp=85103574497&partnerID=8YFLogxK