Adaptive Model Predictive Control of Yaw Rate and Lateral Acceleration for an Active Steering Vehicle Based on Tire Stiffness Estimation

Abstract

Dynamic systems for vehicles are commonly established based on physical rules that are simplified and are not accurately reflective of their dynamic characteristics under certain operating conditions, affecting their accuracy and safety. This paper presents an adaptive model predictive controller (AMPC) with an estimator that controls the yaw rate and lateral acceleration of a realistic ground vehicle. A number of vehicle parameters are estimated using different advanced estimators, of which recursive least squares is one that is widely used. AMPCs and estimators are used to manage the driving process in order for vehicles to remain stable and controllable. In this research, experiments were conducted on a realistic vehicle based on a nonlinear brush tire model. In this estimator, lateral force measurements are analyzed to estimate the tire cornering stiffnesses that are used in the AMPC from a linear bicycle model (lateral force model), where each parameter describes the nonlinearity of the vehicle model. The results demonstrate that the controlled vehicle's performance is improved by combining a recursive least squares estimator with an AMPC in the simulation process. As tire stiffness estimates become more accurate, AMPC performance improves. Yet, AMPC controllers are described in terms of a table of design parameters. As different steering inputs are applied to different vehicles, the yaw rate and lateral acceleration are varied, while tire stiffness is determined. According to the results of this paper, the proposed method for estimating tire-cornering stiffness exhibits high estimation accuracy, robustness, computational efficiency, stability, comfort, and accuracy and reliability under a variety of steering input maneuvers using an AMPC controller.