Unstable articulated vehicles pose a serious threat to the occupants driving them as well as the occupants of the vehicles around them. Articulated vehicles typically experience three types of instability: snaking, jack-knifing, and rollover. An articulated vehicle subjected to any of these instabilities can result in major accidents. In this study a Nonlinear Model Predictive Control (NMPC) that applies brake-based torque vectoring on the trailer is developed to improve the articulated vehicle stability. The NMPC formulation includes tire saturation and applies constraints to prevent rollover. The controller output is a left and right brake force allowing the longitudinal velocity change to be incorporated into the model. Simulations were conducted to instigate snaking and jack-knifing and show the NMPC controller result compared to a simple proportional controller. The NMPC controller can prevent these instabilities and improves the overall handling and safety of the articulated vehicle.


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    Titel :

    Articulated Vehicle Stability Control Using Brake-Based Torque Vectoring on Trailer Using Nonlinear Model Predictive Control


    Weitere Titelangaben:

    Sae Int. J. Commer. Veh


    Beteiligte:
    Catterick, Jamie (Autor:in) / Els, Schalk (Autor:in) / Botha, Theunis (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2022-10-17


    Format / Umfang :

    16 pages




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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