Model Predictive Control for Vehicle Stabilization at the Limits of Handling

被引：360

作者：

Beal, Craig Earl ^{[1
]}

Gerdes, J. Christian ^{[1
]}

机构：

[1] Stanford Univ, Dept Mech Engn, Stanford, CA 94305 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2013年 / 21卷 / 04期

关键词：

Driver assistance; envelope control; model predictive control (MPC); vehicle dynamics; vehicle safety;

D O I：

10.1109/TCST.2012.2200826

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Recent developments in vehicle steering systems offer new opportunities to measure the steering torque and reliably estimate the vehicle sideslip and the tire-road friction coefficient. This paper presents an approach to vehicle stabilization that leverages these estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space. This approach provides a large operating region accessible by the driver and smooth interventions at the stability boundaries. Experimental results obtained with a steer-by-wire vehicle and a proof of envelope invariance demonstrate the efficacy of the envelope controller in controlling the vehicle at the limits of handling.

引用

页码：1258 / 1269

页数：12

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