Abstract
With the rapid development of the vehicle chassis control and autonomous driving technology, it is more and more urgent to realize the active steering technology of autonomous driving stability control. Under emergency conditions, the adhesion constraints, the model uncertainty, and the strong nonlinearity of vehicle bring great challenges to active steering control. In this paper, a model predictive control method for an active steering system based on a nonlinear vehicle model is proposed to solve the problems of adhesion constraint, model uncertainty, and external disturbance in the active steering system. Based on the real-time measurement of vehicle state, a new optimization method is proposed in this paper, which has good performance in dealing with the uncertainty and nonlinearity of the model. The control method transforms the constraint problem into quadratic programming and nonlinear programming. In order to ensure the control accuracy when the vehicle enters the nonlinear area, the control model is built with the combination of the nonlinear tire model and the 2DOF model. The control model is built based on Simulink, and the effectiveness of the controller is the verified joint simulation of Simulink and CarSim. The hardware-in-the-loop (HIL) test bench based on LabVIEW RT is built and tested in order to verify the feasibility and real effect of the controller. Simulation and HIL test results demonstrate that, compared with PID controller, the model predictive controller can accomplish the driving task well and improve the vehicle handling stability.
Highlights
With the rapid development of the vehicle chassis control and autonomous driving technology, it is more and more urgent to realize the active steering technology of autonomous driving stability control
Introduction e vehicle stability can be affected by the large lateral winds or other unpredictable conditions when running on a slippery road surface
Modern control theories, and advanced control theories have been applied to the studies on Active front steering (AFS) systems one after another. e classical control theory is applied to AFS system for the first time
Summary
The influence of the longitudinal force of the tire is ignored, and only the influence of the lateral force on the stability of the vehicle is considered, so the longitudinal speed is 0. The influence of tire’s longitudinal forces was ignored, and the side forces of tires were calculated by Pacejka tire model in the pure sideslip. E calculation formula of tire lateral force is expressed as follows: Fy D sin{C arctan[Bα − E(Bα − arctan Bα)]},. Lf + lr the nonlinear vehicle model is too complex to be written as a state-space form with which the controller can be designed. The lateral forces of front and rear tires were locally linearized, and the linearized tire force equation was obtained as follows: Fy,i αiCi∗,.
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