On pre-emptive vehicle stability control

نویسندگان

چکیده

Future vehicle localisation technologies enable major enhancements of dynamics control. This study proposes a novel stability control paradigm, based on pre-emptive that considers the curvature profile expected path ahead in computation reference direct yaw moment and braking action. The additional information allows trail control, which slows down if predicted speed current torque demand is deemed incompatible with trajectory ahead. Nonlinear model predictive used to implement approach, also steering angle rate provided internal are varied along prediction horizon, account for path. Two configurations different levels complexity proposed compared passive vehicle, two state-of-the-art nonlinear controllers, one without non-pre-emptive performance assessed obstacle avoidance tests, simulated high-fidelity an electric in-wheel motors. Results show controllers achieve higher maximum entry speeds – up ∼34% ∼60% high low tyre-road friction conditions than formulations preview.

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ژورنال

عنوان ژورنال: Vehicle System Dynamics

سال: 2021

ISSN: ['0042-3114', '1744-5159']

DOI: https://doi.org/10.1080/00423114.2021.1895229