A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles

A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles

Zheng, Y. (TU Delft Intelligent Vehicles)
Shyrokau, B. (TU Delft Intelligent Vehicles)

2019

Loss of lateral stability remains a major cause of road accidents in recent years. Further improvement of passenger vehicle's active safety requires a more efficient utilization of the tire-road friction. Nonlinear model predictive control (NMPC) is expected to fulfill such a role, as the nonlinear characteristics of the vehicle are included and the control input is optimized. However, the computational load can be excessive for onboard hardware, which hinders the NMPC from practical implementation. To tackle the problem, this study proposes a method to improve the computational efficiency in NMPC. The proposed solution consists of an explicitly stored look-up table for generating initial guesses and an online optimization component. The look-up table is based on the offline solution of a hybrid MPC controller. Through the simulation with multibody vehicle model, impressive control performance has been observed, as the vehicle can be stabilized from a side-slip angle of up to 0.5 rad.

MPC
vehicle control

http://resolver.tudelft.nl/uuid:420ec69a-7855-4ae3-b163-2aa32f70ace2

https://doi.org/10.1109/ICMECH.2019.8722930

IEEE, Piscataway, NJ, USA

2019-11-27

978-1-5386-6959-4

Proceedings - 2019 IEEE International Conference on Mechatronics (ICM 2019)

2019 IEEE International Conference on Mechatronics, ICM 2019, 2019-03-18 → 2019-03-20, Ilmenau, Germany

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2019 Y. Zheng, B. Shyrokau