Model Predictive Control for Vehicle Yaw Stability With Practical Concerns
Model Predictive Control for Vehicle Yaw Stability With Practical Concerns
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DOI：
10.1109/tvt.2014.2306733
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发表时间：
2014-10-01
影响因子：
6.8
通讯作者：
Choi, Seibum B.
中科院分区：
文献类型：
--
作者：
Choi, Mooryong;Choi, Seibum B.
提出一种基于模型预测控制（MPC）的电子稳定性控制（ESC）方法，利用具有滞后轮胎力的自行车模型，在MPC问题的预测模型上反映横向轮胎力的滞后特性，以便更好地描述车辆行为。为了避免使用约束最优控制理论寻找 MPC 问题最优解的计算负担，生成所需状态和输入作为参考，因为可以轻松地以封闭形式获得 MPC 问题的解，而无需使用使用这些参考值的数值求解器。所提出的方法控制车辆遵循生成的参考值，以在车辆按照驾驶员意图转弯时保持车辆横摆稳定性。通过在车辆动力学软件CarSim的高、低μ表面仿真环境中与基于普通MPC的ESC方法进行比较，验证了该方法的优越性。
This paper presents a method for electronic stability control (ESC) based on model predictive control (MPC) using the bicycle model with lagged tire force to reflect the lagged characteristics of lateral tire forces on the prediction model of the MPC problem for better description of the vehicle behavior. To avoid the computational burden in finding the optimal solution of the MPC problem using the constrained optimal control theory, the desired states and inputs as references are generated since the solution of the MPC problem can be easily obtained in a closed form without using numeric solvers using these reference values. The suggested method controls the vehicle to follow the generated reference values to maintain the vehicle yaw stability while the vehicle turns as the driver intended. The superiority of the proposed method is verified through comparisons with an ESC method based on ordinary MPC in the simulation environments on both high- and low-mu surfaces using the vehicle dynamics software CarSim.