Non-Linear Model of Predictive Control-Based Slip Control ABS Including Tyre Tread Thermal Dynamics

Abstract

Vehicle dynamics can be deeply affected by various tyre operating conditions, including thermodynamic and wear effects. Indeed, tyre temperature plays a fundamental role in high performance applications due to the dependencies of the cornering stiffness and potential grip in such conditions. This work is focused on the evaluation of a potentially improved control strategy’s performance when the control model is fed by instantaneously varying tyre parameters, taking into account the continuously evolving external surface temperature and the vehicle boundary conditions. To this end, a simplified tyre thermal model has been integrated into a model predictive control strategy in order to exploit the thermal dynamics’ dependents within a proposed advanced ABS control system. We evaluate its performance in terms of the resulting braking distance. In particular, a non-linear model predictive control (NMPC) based ABS controller with tyre thermal knowledge has been integrated. The chosen topic can possibly lay a foundation for future research into autonomous control where the detailing of decision-making of the controllers will reach the level of multi-physical phenomena concerning the tyre–road interaction.

Adaptive Nonsingular Fast Terminal Sliding Mode-Based Direct Yaw Moment Control for DDEV under Emergency Conditions

“…Tires provide the vehicle's interaction with the road, and thus the tire characteristics have a direct impact on the vehicle's dynamic performance [26]. Tire forces and moments are related to a variety of factors, such as tire slip angle, slip ratio, vertical load, and road adhesion coefficient.…”

Research on Regenerative Braking Control Strategy for Single-Pedal Pure Electric Commercial Vehicles

“…Ref. [19] integrates a nonlinear model predictive control (NMPC)-based ABS controller with tire thermal knowledge, which improves the performance of ABS. Ref.…”

On Antilock Braking Systems With Road Preview Through Nonlinear Model Predictive Control

“…Ma et al [9] simulate NMPC algorithms for traction control and ABS for EVs, and considers the effect of road surface unevenness. In [10], an NMPC ABS, including a simplified thermal tire model, is assessed in simulation, performing better throughout a wide range of environmental conditions than the corresponding algorithm neglecting tire temperature effects. The NMPC ABS in [11] embeds a fractional extremum seeking algorithm to establish the optimal slip ratio without knowledge of the tire-road friction coefficient.…”