Curve Tilting With Nonlinear Model Predictive Control for Enhancing Motion Comfort
نویسندگان
چکیده
The benefits of automated driving can only be fully realized if the occupants are protected from motion sickness. Active suspensions hold potential to raise comfort level in passenger vehicles by enabling new functionalities chassis control. One example is actively lean vehicle body toward center corner counteract inertial lateral acceleration. Commonly known as curve tilting, concept deemed effective reducing postural disturbance on and visual-vestibular conflict when do not have an external view. We present this article a nonlinear model predictive control (NMPC) method for tilting functionality. controller incorporates suspension forces prediction help achieve high tracking accuracy near physical limit system. optimization process accelerated with explicit initialization that based piecewise-affine (PWA) modeling offline solution alternative optimal problem (OCP). able operate at 20 Hz hardware-in-the-loop (HIL) setup. Given sufficient computational resources, we observe significant reduction acceleration sensed over passive suspensions, namely, 46.5%, 25.4%, 25.4% highway, rural, urban scenarios, respectively. NMPC also outperforms baseline proportional-integral-derivative (PID) achieving lower error, 12.9%, 16.4%, 38.0% aforementioned scenarios.
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems and Technology
سال: 2022
ISSN: ['1558-0865', '2374-0159', '1063-6536']
DOI: https://doi.org/10.1109/tcst.2021.3113037