A preliminary study to integrate LTV-MPC lateral vehicle dynamics control with a slip control

In this paper we present the integration of a Linear-Time-Varying Model-Predictive-Control (LTV-MPC), designed to stabilize a vehicle during sudden lane change or excessive speed-entry in curve, with a slip controller that converts the desired longitudinal tire force variation in pressure variation in the brake system. The lateral controller is designed using a three-degrees-of-freedom vehicle model taking into account both yaw rate and side slip angle of vehicle while the slip controller is a nonlinear gain scheduling P with feedforward action. The performances are validated with SIL technique, in particular, the authors use a proprietary simulator calibrated on an oversteering sport commercial car. Simulation results show the benefits of the control methodology used.