Citation

Botes W, Botha TR, Els PS. Veh. Syst. Dyn. 2023; 61(4): 1063-1085.

Copyright

(Copyright © 2023, Informa - Taylor and Francis Group)

DOI

10.1080/00423114.2022.2057334

PMID

unavailable

Abstract

This paper presents a non-linear integrated control strategy that primarily focuses maintaining vehicle lateral stability using active front steering and differential braking. The proposed control strategy utilises a non-linear model predictive controller to improve lateral stability. A stable linear reference model is used for reference generation. By including the understeer gradient in the reference model, different kinematic responses are obtained from the controlled vehicle. The prediction model utilises the road friction estimate to create dynamic stability constraints that include rollover and sliding of the vehicle. The design of the model predictive controller allows easy activation of different control actuators and dynamic modification to the control behaviour. The control methodology is validated using MATLAB/Simulink and a validated MSC ADAMS model. A sensitivity analysis is conducted to identify the susceptibility of the control strategy to various parameters and states.

Language: en

Keywords

advanced driver assist system; integrated control; lateral stability; Non-linear model predictive control; sideslip angle control