In this research the vehicle rollover prevention is investigated using the direct yaw-moment control (DYC) through differential braking. The model predictive control (MPC) technique is employed to design the DYC as an attempt to mimic human driver behavior. The adaptive function is incorporated into the MPC design since vehicle model varies significantly due to the change in vehicle speed. The designed adaptive MPC based DYC is evaluated with a different driver model on CarSim to test the performance in both the rollover prevention and the trajectory following. The preliminary simulation results indicate that the designed controller is capable of reducing the vehicle roll motions while maintaining reasonable yaw plane tracking performance.
Rollover prevention through model predictive direct yaw moment control
2008
6 Seiten, 11 Bilder, 1 Tabelle, 13 Quellen
Conference paper
English
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