Vehicle yaw stability control based on MPC

In order to improve vehicle yaw stability in high-speed emergency steering and continuous steering in low coefficient road, a vehicle yaw stability control method is proposed based on MPC. First, two degrees of freedom vehicle dynamics model is built, and then the incremental model for controller design is received. Second, constrained MPC method is adopted and the additional yaw moment is received by moving horizon optimization to implement vehicle yaw stability control considering the output saturation of brake. In order to verify the effectiveness of the proposed method, simulations are carried out in the typical vehicle running condition using vehicle dynamic software veDYNA. The simulation results show that the vehicle yaw stability is satisfied in emergency steering and continuous steering running condition.