Citation

Guastadisegni G, So KM, Parra A, Tavernini D, Montanaro U, Gruber P, Soria L, Mantriota G, Sorniotti A. Int. J. Automot. Technol. 2023; 24(2): 347-365.

Copyright

(Copyright © 2023, Holtzbrinck Springer Nature Publishing Group)

DOI

10.1007/s12239-023-0029-2

PMID

unavailable

Abstract

Next-generation accurate vehicle localization and connectivity technologies will enable significant improvements in vehicle dynamics control. This study proposes a novel control function, referred to as pre-emptive braking, which imposes a braking action if the current vehicle speed is deemed safety-critical with respect to the curvature of the expected path ahead. Differently from the implementations in the literature, the pre-emptive braking input is designed to: a) enhance the safety of the transient vehicle response without compromising the capability of reaching the cornering limit, which is a significant limitation of the algorithms proposed so far; and b) allow -- in its most advanced implementation -- to precisely constrain the sideslip angle to set levels only through the pre-emptive control of the longitudinal vehicle dynamics, without the application of any direct yaw moment, typical of conventional stability control systems. To this purpose, a real-time-capable nonlinear model predictive control (NMPC) formulation based on a double track vehicle prediction model is presented, and implemented in its implicit form, which is applicable to both human-driven and automated vehicles, and acts as an additional safety function to compensate for human or virtual driver errors in extreme conditions. Its performance is compared with that of: i) two simpler -- yet innovative with respect to the state-of-the-art -- pre-emptive braking controllers, namely an NMPC implementation based on a dynamic point mass vehicle model, and a pre-emptive rule-based controller; and ii) a benchmarking non-pre-emptive rule-based trail braking controller. The benefits of pre-emptive braking are evaluated through vehicle dynamics simulations with an experimentally validated vehicle model, as well as a proof-of-concept implementation on an automated electric vehicle prototype.

Language: en

Keywords

Braking; Nonlinear model predictive control; Pre-emptive control; Reference curvature; Sideslip angle constraint; Stability control