Title: Using future path information for improving the stability of an over-actuated vehicle

Authors: Johan Backmark, Erik Karlsson, Jonas Fredriksson, Mats Jonasson

Addresses: Department of Signals and Systems, Chalmers University of Technology, SE-412 96 Goteborg, Sweden. ' Department of Signals and Systems, Chalmers University of Technology, SE-412 96 Goteborg, Sweden. ' Department of Signals and Systems, Chalmers University of Technology, SE-412 96 Goteborg, Sweden. ' Department of Vehicle Dynamics and Active Safety, Volvo Car Corporation and KTH, SE-405 31 Goteborg, Sweden

Abstract: In this paper, model predictive control (MPC) is applied for controlling an over-actuated vehicle. The control problem is associated with the distribution of the tyre forces to ensure vehicle stability. The use of MPC is shown to be a suitable method if the vehicle|s future desired trajectory is known. Simulation studies conducted show that access to information in advance, even if such information is restricted to only a few seconds, significantly contributes to maintaining vehicle stability. Furthermore, a longer prediction horizon results in earlier actions and stabilises the vehicle even better.

Keywords: MPC; model predictive control; vehicle systems modelling; vehicle control; vehicle dynamics; over-actuated vehicles; tyre forces; vehicle stability; simulation.

DOI: 10.1504/IJVSMT.2009.029390

International Journal of Vehicle Systems Modelling and Testing, 2009 Vol.4 No.3, pp.218 - 231

Received: 20 Oct 2008
Accepted: 19 Apr 2009
Published online: 28 Nov 2009 *

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