Title :
Design of vehicle yaw stability controller based on model predictive control
Author :
Zhou, Hongliang ; Liu, Zhiyuan
Author_Institution :
Dept. of Control Sci. & Eng., Harbin Inst. of Technol., Harbin, China
Abstract :
Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle yaw stability control with the consideration of tire nonlinear characteristics. The simulations on a professional vehicle dynamics tool show the controller could calculate reasonable brake torque of the most efficient wheel in moving horizon manner, and keep the vehicle yaw stability.
Keywords :
brakes; predictive control; road traffic; stability; traffic control; vehicle dynamics; 6 DoF linear vehicle model; active differential brake; automotive vehicle; model predictive control; steering maneuver; tire nonlinear characteristic; vehicle yaw stability controller; Control systems; Force control; Predictive control; Predictive models; Roads; Stability; Tires; Torque control; Vehicle driving; Wheels;
Conference_Titel :
Intelligent Vehicles Symposium, 2009 IEEE
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-3503-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2009.5164381
