Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain
Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain
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DOI：
10.1109/tcst.2012.2198886
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发表时间：
2013-07-01
影响因子：
4.8
通讯作者：
Bemporad, Alberto
中科院分区：
文献类型：
--
作者：
Di Cairano, Stefano;Tseng, Hongtei Eric;Bemporad, Alberto
为了实现道路上的零事故，车辆主动安全受到越来越多的关注。在本文中，我们研究了一种控制结构，它具有通过实现更快的收敛和减少对纵向动力学的影响来改善偏航稳定性控制的潜力。考虑主动前转向和差动制动系统，提出了一种模型预测控制(MPC)策略来协调执行器。我们建立了关于轮胎滑移角的车辆动力学模型，并使用分段仿射(PWA)近似来描述轮胎的力特性。得到的PWA系统被用作混合预测预测策略中的预测模型。在评估了所提出的方法的优点之后，我们使用切换MPC策略来综合控制器，其中假设轮胎状态(线性/饱和)在预测范围内不变。对控制器的计算负载和内存需求的评估表明，它能够在汽车级电子控制单元中实时执行。在低摩擦面上进行的不同机动试验表明，该控制器具有较高的性能。
Vehicle active safety receives ever increasing attention in the attempt to achieve zero accidents on the road. In this paper, we investigate a control architecture that has the potential of improving yaw stability control by achieving faster convergence and reduced impact on the longitudinal dynamics. We consider a system where active front steering and differential braking are available and propose a model predictive control (MPC) strategy to coordinate the actuators. We formulate the vehicle dynamics with respect to the tire slip angles and use a piecewise affine (PWA) approximation of the tire force characteristics. The resulting PWA system is used as prediction model in a hybrid MPC strategy. After assessing the benefits of the proposed approach, we synthesize the controller by using a switched MPC strategy, where the tire conditions (linear/saturated) are assumed not to change during the prediction horizon. The assessment of the controller computational load and memory requirements indicates that it is capable of real-time execution in automotive-grade electronic control units. Experimental tests in different maneuvers executed on low-friction surfaces demonstrate the high performance of the controller.