Vehicle Lateral Stability Controller Design for Critical Running Conditions using NMPC Based on Vehicle Dynamics Safety Envelope

Guo, Yangyang; Guo, Hongyan; Yin, Zhenyu; Cui, Maoyuan; Chen, Hong

doi:10.1109/iscas.2019.8702729

Cited by 6 publications

(10 citation statements)

References 10 publications

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“…Since the prediction of critical condition is achievable, the corresponding predictive control approaches can be designed to enhance the stability of vehicle under critical motion conditions. Nonlinear Model Predictive Control (NMPC) 11 was designed for vehicle stability control in critical conditions and have produced pretty good effect. Taking advantages of iterative optimization, the optimal yaw moment can be obtained by the regional open loop predictive controller.…”

Section: Introductionmentioning

confidence: 99%

Research on vehicle critical condition prediction and optimal yaw moment intervention based on nonlinear dynamics and Monte Carlo simulation

Lou

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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Timely and effective yaw moment intervention is required to suppress the instability tendency of vehicle under critical conditions, which is mainly caused by the overshoot of state parameters. As the development of vehicle nonlinear dynamics, the prediction of vehicle critical condition enables the vehicle to stabilize in this condition by timely yaw moment intervention. The yaw moment intervention law based on the prediction of critical conditions cannot be solely investigated by the initial motion states, since the online iterative optimization is an indispensable part in the predictive control. In this paper, the combination of threshold model, quadratic optimal yaw moment prediction method and Monte Carlo simulation provides a new approach to investigate the optimal open loop yaw moment intervention law based on initial motion states, which can be used to maintain the stability of vehicle plane motion in critical situations and optimize the predictive control method. Specifically, a total of 480,000 samples of quadratic yaw moment intervention parameters and corresponding system responses are obtained and analysed. It is certified that the optimized quadratic yaw moment can effectively suppress the overshoot of system responses. Specifically, statistics indicate that the initial value of yaw moment intervention plays an important role in preventing instability, but with the increase of speed and steering angle, the final yaw moment will be the decisive factor to maintain the lateral stability.

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Section: Introductionmentioning

confidence: 99%

Research on vehicle critical condition prediction and optimal yaw moment intervention based on nonlinear dynamics and Monte Carlo simulation

Lou

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Integrated control of different chassis dynamics has been performed using methods such as switching, 24,25 gain scheduling, 16,26,27 and constrained optimization control. 23,[28][29][30] Switching has two considerable disadvantages. First, the internal stability of the system is not ensured due to the switching process.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, when the system order and consequently the number of actuators are increased, more tuning parameters are required for integration tasks. The design of a controller with constraints on brake and steering actuators is discussed in References [28][29][30]. In these papers, the permissible range of input or output changes in lateral dynamics is calculated based on the allowable area for the yaw rate and sideslip angle.…”

Section: Introductionmentioning

confidence: 99%

Adaptive yaw stability control by coordination of active steering and braking with an optimized lower‐level controller

Ahmadian

Khosravi

Sarhadi

2020

Adaptive Control & Signal

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Summary In this article, an integrated multiinput multioutput model reference adaptive control algorithm is presented based on active front steering and effective direct yaw moment distribution as an advanced driver assistance system. Vehicle parameter uncertainties in mass and tire‐road friction coefficient are considered through adaptation laws at the upper level in the control structure. The efficient distribution of yaw moment on the rear wheels is performed via a constrained optimization at the lower control level. Control commands are executed by additive steering angle on front wheels and brake torque applied on one of the rear wheels. Simulation results for different lateral maneuvers are employed for the evaluation of the proposed adaptive control method. The performance of the integrated control algorithm to enhance vehicle handling and stability is shown on various road conditions.

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“…Guo et al. 19 designed a controller with input constraints on brake and steering actuators. They calculated the permissible range of input changes in lateral dynamics based on the permissible range for the yaw rate and sideslip angle outputs.…”

Section: Introductionmentioning

confidence: 99%

“…9,18 Where for the problem of path following and integration between actuators many indexes and tuning parameters should be defined. Guo et al 19 designed a controller with input constraints on brake and steering actuators. They calculated the permissible range of input changes in lateral dynamics based on the permissible range for the yaw rate and sideslip angle outputs.…”

Section: Introductionmentioning

confidence: 99%

Managing driving disturbances in lateral vehicle dynamics via adaptive integrated chassis control

Ahmadian

Khosravi

Sarhadi

2020

Proceedings of the Institution of Mechanical Engineers, Part K:

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This paper presents a vehicle stability control method based on a multi-input multi-output (MIMO) model reference adaptive control (MRAC) strategy as an advanced driver assistance system (ADAS) to enhance the handling and yaw stability of the vehicle lateral dynamics. The corrective yaw moment and additive steering angle are generated using direct yaw moment control (DYC) and active front steering (AFS) at the upper control level in the hierarchical control algorithm. A nonlinear term is added to the conventional adaptive control laws to handle parametric uncertainties and disturbances. The desired yaw moment generated by the upper-level controller is converted to the brake forces and is distributed to the rear wheels by an optimal procedure at the lower-level. The major contribution of this study is the introduction of a nonlinear integrated adaptive control method based on a constraint optimization algorithm. To verify the effectiveness of the proposed control strategy, the nonlinear integrated adaptive controller, and linear time-varying MRAC are designed and used for comparison. Simulation results are performed for the J-turn and double lane change (DLC) manoeuvres at high speeds and low tyre-road friction coefficients. The desired performance of the proposed controller exhibited significant improvement compared to the conventional MRAC in terms of yaw rate tracking and handling of sideslip limitation.

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Vehicle Lateral Stability Controller Design for Critical Running Conditions using NMPC Based on Vehicle Dynamics Safety Envelope

Cited by 6 publications

References 10 publications

Research on vehicle critical condition prediction and optimal yaw moment intervention based on nonlinear dynamics and Monte Carlo simulation

Research on vehicle critical condition prediction and optimal yaw moment intervention based on nonlinear dynamics and Monte Carlo simulation

Adaptive yaw stability control by coordination of active steering and braking with an optimized lower‐level controller

Managing driving disturbances in lateral vehicle dynamics via adaptive integrated chassis control

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