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Model Predictive Controller Design for Vehicle Motion Control at Handling Limits in Multiple Equilibria on Varying Road Surfaces

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  • Szilárd Czibere

    (Department of Automotive Technologies, Budapest University of Technology and Economics, 6 Stoczek St., Building J, H-1111 Budapest, Hungary)

  • Ádám Domina

    (Department of Automotive Technologies, Budapest University of Technology and Economics, 6 Stoczek St., Building J, H-1111 Budapest, Hungary)

  • Ádám Bárdos

    (Department of Automotive Technologies, Budapest University of Technology and Economics, 6 Stoczek St., Building J, H-1111 Budapest, Hungary)

  • Zsolt Szalay

    (Department of Automotive Technologies, Budapest University of Technology and Economics, 6 Stoczek St., Building J, H-1111 Budapest, Hungary)

Abstract

Electronic vehicle dynamics systems are expected to evolve in the future as more and more automobile manufacturers mark fully automated vehicles as their main path of development. State-of-the-art electronic stability control programs aim to limit the vehicle motion within the stable region of the vehicle dynamics, thereby preventing drifting. On the contrary, in this paper, the authors suggest its use as an optimal cornering technique in emergency situations and on certain road conditions. Achieving the automated initiation and stabilization of vehicle drift motion (also known as powerslide) on varying road surfaces means a high level of controllability over the vehicle. This article proposes a novel approach to realize automated vehicle drifting in multiple operation points on different road surfaces. A three-state nonlinear vehicle and tire model was selected for control-oriented purposes. Model predictive control (MPC) was chosen with an online updating strategy to initiate and maintain the drift even in changing conditions. Parameter identification was conducted on a test vehicle. Equilibrium analysis was a key tool to identify steady-state drift states, and successive linearization was used as an updating strategy. The authors show that the proposed controller is capable of initiating and maintaining steady-state drifting. In the first test scenario, the reaching of a single drifting equilibrium point with −27.5° sideslip angle and 10 m/s longitudinal speed is presented, which resulted in −20° roadwheel angle. In the second demonstration, the setpoints were altered across three different operating points with sideslip angles ranging from −27.5° to −35°. In the third test case, a wet to dry road transition is presented with 0.8 and 0.95 road grip values, respectively.

Suggested Citation

  • Szilárd Czibere & Ádám Domina & Ádám Bárdos & Zsolt Szalay, 2021. "Model Predictive Controller Design for Vehicle Motion Control at Handling Limits in Multiple Equilibria on Varying Road Surfaces," Energies, MDPI, vol. 14(20), pages 1-17, October.
  • Handle: RePEc:gam:jeners:v:14:y:2021:i:20:p:6667-:d:656578
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    References listed on IDEAS

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    1. Jinhyun Park & In Gyu Jang & Sung-Ho Hwang, 2018. "Torque Distribution Algorithm for an Independently Driven Electric Vehicle Using a Fuzzy Control Method: Driving Stability and Efficiency," Energies, MDPI, vol. 11(12), pages 1-22, December.
    2. Xudong Zhang & Dietmar Göhlich, 2017. "Integrated Traction Control Strategy for Distributed Drive Electric Vehicles with Improvement of Economy and Longitudinal Driving Stability," Energies, MDPI, vol. 10(1), pages 1-18, January.
    3. Li Zhai & Rufei Hou & Tianmin Sun & Steven Kavuma, 2018. "Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle," Energies, MDPI, vol. 11(2), pages 1-19, February.
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    Cited by:

    1. Arno Eichberger & Zsolt Szalay & Martin Fellendorf & Henry Liu, 2022. "Advances in Automated Driving Systems," Energies, MDPI, vol. 15(10), pages 1-5, May.

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