Title: Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle with rollover-prevention

Authors: Karthik Poovendran; Theunis R. Botha; P. Schalk Els

Addresses: Department of Mechanical and Aeronautical Engineering, University of Pretoria, Private Bag x20 Hatfield, 0028, South Africa ' Department of Mechanical and Aeronautical Engineering, University of Pretoria, Private Bag x20 Hatfield, 0028, South Africa ' Department of Mechanical and Aeronautical Engineering, University of Pretoria, Private Bag x20 Hatfield, 0028, South Africa

Abstract: Torque vectoring is used on vehicles to improve stability and improve vehicle directional control. These systems are developed on sports vehicles and implemented on sport utility vehicles with a high centre of gravity. This may result in an increase in roll propensity of the vehicles. This paper develops and experimentally evaluates a model predictive control (MPC) based torque vectoring system with yaw rate and slip-angle control while incorporating a rollover limit based on the zero moment point rollover index. The developed MPC is compared to a baseline linear quadratic regulator (LQR) based yaw rate controller in simulation. The final controller is evaluated experimentally with a sport utility vehicle. The proposed controller was found to improve vehicle handling while reducing rollover propensity.

Keywords: torque vectoring; direct yaw moment control; traction control; stability control; rollover prevention; zero moment point roll index.

DOI: 10.1504/IJVSMT.2023.135448

International Journal of Vehicle Systems Modelling and Testing, 2023 Vol.17 No.3/4, pp.222 - 243

Received: 25 Mar 2022
Accepted: 09 Jan 2023
Published online: 13 Dec 2023 *

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