An Integrated LTV-MPC Lateral Vehicle Dynamics Control: Simulation results

In this work 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 entry-speed in curve, with a slip controller that converts the desired longitudinal tire force variation to pressure variation in the brake system. The lateral controller is designed using a 3DOF vehicle model taking into account both yaw rate and side slip angle of vehicle while the slip controller is a gain scheduled proportional controller with feedforward action. The performances are validated through simulation: in particular, the authors use a proprietary simulator calibrated on an oversteering sport commercial car and commercial simulator calibrated on a standard light car. Simulation results show the benefits of the control methodology in that very effective steering manoeuvres can be obtained as a result of this feedback policy while satisfying input constraints and show the importance of the introduction of inputs constraints in the control strategy design.