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.
An Integrated LTV-MPC Lateral Vehicle Dynamics Control: Simulation results
GLIELMO L.
2010-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.