An optimization based constrained controller is presented for automotive vehicle lateral stabilization. Simulations have been made on a case in which the vehicle loses steerability under manual control, but with the controller applied, the maneuver remains stable. The proposed solution may be well suited for implementation in a real vehicle, as it is computationally very efficient. A practical implementation may, however, require some extensions: (1) The controller should be designed to work for all values of the maximum friction coefficient. (2) The simplification that the vehicle mass is equally distributed among the four wheels may be improved. (3) The range of parameter values for which the control law is designed should be increased. (4) Interactions with the ABS (Antilock Braking System) system and observer design may require further attention. At least points (1) and (3) above will lead to increased complexity in terms of a larger number of regions in the representation of the PWL (Piece-Wise Linear) controller. This may be unacceptable, but may be counteracted in several ways: (1) Tuning of approximation tolerances, (2) Approximating and joining solution in neighboring small regions, (3) Separating the control problem into a control allocation problem and a simpler control problem. Such a control allocation problem can be posed as an mpNLP (Multi-Parametric Non-Linear Programming), which would be simpler than the mpNLP obtained from the RHC (Receding Horizon Control) formulation. A simulation example was considered, in which the driver had to carry out an evasive maneuver at high speed with a friction coefficient corresponding to a dry asphalt surface. The driver controls the steering angle, and the controller applies an appropriate distribution of braking forces to keep the state within the constraints.
Lateral vehicle stabilization using constrained nonlinear control
Seitenlagestabilisierung von Fahrzeugen mittels nichtlinearer Regelung unter Beschränkungen
2003
6 Seiten, 9 Bilder, 15 Quellen
Conference paper
Storage medium
English
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