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

Tavolo, Gaetano; So, Kai Man; Tavernini, Davide; Perlo, Pietro; Sorniotti, Aldo

doi:10.1109/tie.2023.3314917

Cited by 3 publications

References 30 publications

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Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting Through Direct Yaw Moment Control and Rear-Wheel-Steering

Tavolo,

Stano,

Tavernini

et al. 2024

Lecture Notes in Mechanical Engineering

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Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model predictive control (NMPC) approach that integrates multiple actuation methods, namely four-wheel-steering, longitudinal tyre force distribution, and direct yaw moment control, to execute drifting when this is beneficial for PT in emergency scenarios. Simulation results of challenging manoeuvres, based on an experimentally validated vehicle model, highlight the substantial PT performance improvements brought by: i) vehicle operation outside the envelope enforced by the current generation of stability controllers; and ii) the integrated control of multiple actuators.

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Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting Through Direct Yaw Moment Control and Rear-Wheel-Steering

Tavolo,

Stano,

Tavernini

et al. 2024

Lecture Notes in Mechanical Engineering

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Extremum Seeking-Based Braking Friction Force Maximization Algorithm Using Fuzzy Logic Without Slip Ratio for ABSs

Ha,

You,

et al. 2024

IEEE Trans. Intell. Veh.

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An NMPC-Based Integrated Longitudinal and Lateral Vehicle Stability Control Based on the Double-Layer Torque Distribution

Bai,

Wang,

Jia

et al. 2024

Sensors

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With the ongoing promotion and adoption of electric vehicles, intelligent and connected technologies have been continuously advancing. Electrical control systems implemented in electric vehicles have emerged as a critical research direction. Various drive-by-wire chassis systems, including drive-by-wire driving and braking systems and steer-by-wire systems, are extensively employed in vehicles. Concurrently, unavoidable issues such as conflicting control system objectives and execution system interference emerge, positioning integrated chassis control as an effective solution to these challenges. This paper proposes a model predictive control-based longitudinal dynamics integrated chassis control system for pure electric commercial vehicles equipped with electro–mechanical brake (EMB) systems, centralized drive, and distributed braking. This system integrates acceleration slip regulation (ASR), a braking force distribution system, an anti-lock braking system (ABS), and a direct yaw moment control system (DYC). This paper first analyzes and models the key components of the vehicle. Then, based on model predictive control (MPC), it develops a controller model for integrated stability with double-layer torque distribution. The required driving and braking torque for each wheel are calculated according to the actual and desired motion states of the vehicle and applied to the corresponding actuators. Finally, the effectiveness of this strategy is verified through simulation results from Matlab/Simulink. The simulation shows that the braking deceleration of the braking condition is increased by 32% on average, and the braking distance is reduced by 15%. The driving condition can enter the smooth driving faster, and the time is reduced by 1.5 s~5 s. The lateral stability parameters are also very much improved compared with the uncontrolled vehicles.

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

Cited by 3 publications

References 30 publications

Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting Through Direct Yaw Moment Control and Rear-Wheel-Steering

Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting Through Direct Yaw Moment Control and Rear-Wheel-Steering

Extremum Seeking-Based Braking Friction Force Maximization Algorithm Using Fuzzy Logic Without Slip Ratio for ABSs

An NMPC-Based Integrated Longitudinal and Lateral Vehicle Stability Control Based on the Double-Layer Torque Distribution

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