Abstract

This paper presents an upper-level vehicular stability controller based on parameterized Model Predictive Control (MPC). The proposed system computes the additional moment applied on the vehicle’s yaw axis to improve the lateral stability. In the MPC formulation, the optimization problem is defined as a quadratic programming derived from a linear time-invariant model of vehicle dynamics. The control system is implemented based on a model that considers the rolling movement and on a simpler model that does not consider it, in order to evaluate the effects of using a more representative linear model for more accurate prediction or a simplified model for faster calculation. Constraints are imposed on the optimization problem to deal with the limits in the corrective yaw moment. A parameterized MPC approach is designed to reduce the number of optimization variables, and hence, reducing the computation time required for real-time implementation. Model-in-the-loop simulations are proposed to evaluate the effectiveness of the MPC strategy to avoid steering instability. Simulations are performed for profiling the calculation time, tuning the parameters, and testing algorithm running in an ARM-Cortex A8 on real-time control. Simulation results show that the proposed control strategy is effective in preventing destabilization and demonstrates that even with a longer computation time, the resulting MPC scheme meets the control requirements successfully, even under the presence of model disturbances.

Highlights

  • Vehicle movement may divert from the driver’s intention in adverse driving conditions

  • The present paper proposes a constrained parameterized Model Predictive Control (MPC)-based upper-level Electronic stability control (ESC) that computes the additional yaw moment to improve lateral stability

  • Simulations were performed for the double lane change (DLC) test of standard No ISO 3888:1975 as presented in [40]

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Summary

Introduction

Vehicle movement may divert from the driver’s intention in adverse driving conditions. Electronic stability control (ESC) systems are active safety systems designed to correct undesired actions that may take the vehicle off the desired path or make driving too complicated for not skillful drivers. They have played a significant role in reducing the risk of fatal car crashes in recent years [1]. A low-level controller commands the available actuation system to change the torque transferred to the wheels, to cause a difference between the forces acting on the tires that ensure the virtual command calculated by the upper-level controller

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