On pre-emptive vehicle stability control
Future vehicle localisation technologies enable major enhancements of vehicle dynamics control. This study proposes a novel vehicle stability control paradigm, based on pre-emptive control that considers the curvature profile of the expected path ahead in the computation of the reference direct yaw...
| Autores: | , , , , , |
|---|---|
| Tipo de recurso: | artículo |
| Fecha de publicación: | 2022 |
| País: | España |
| Institución: | Universidad de Navarra |
| Repositorio: | Dadun. Depósito Académico Digital de la Universidad de Navarra |
| Idioma: | inglés |
| OAI Identifier: | oai:dadun.unav.edu:10171/120477 |
| Acceso en línea: | https://hdl.handle.net/10171/120477 |
| Access Level: | acceso abierto |
| Palabra clave: | Nonlinear model predictivecontrol Stability control Torque-vectoring Direct yawmoment control Trailbraking Pre-emptive control |
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On pre-emptive vehicle stability controlParra, A. (Alberto)|||/items/e75bf847-aebc-4f63-9717-71c8ac8f3992Tavernini, D. (Davide)|||/items/d741e3d7-f2e2-47ce-8d08-83af13faa99fGruber, P. (Patrick)|||/items/873b003e-140c-4ad1-9735-85e389a5c8bcSorniotti, A. (Aldo)|||/items/eb4b6827-c532-47de-b29c-1460714c8531Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bfPérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40Nonlinear model predictivecontrolStability controlTorque-vectoringDirect yawmoment controlTrailbrakingPre-emptive controlFuture vehicle localisation technologies enable major enhancements of vehicle dynamics control. This study proposes a novel vehicle stability control paradigm, based on pre-emptive control that considers the curvature profile of the expected path ahead in the computation of the reference direct yaw moment and braking control action. The additional information allows pre-emptive trail braking control, which slows down the vehicle if the predicted speed profile based on the current torque demand is deemed incompatible with the reference trajectory ahead. Nonlinear model predictive control is used to implement the approach, in which also the steering angle and reference yaw rate provided to the internal model are varied along the prediction horizon, to account for the expected vehicle path. Two pre-emptive stability control configurations with different levels of complexity are proposed and compared with the passive vehicle, and two state-of-the-art nonlinear model predictive stability controllers, one with and one without non-pre-emptive trail braking control. The performance is assessed along obstacle avoidance tests, simulated with a high-fidelity model of an electric vehicle with in-wheel motors. Results show that the pre-emptive controllers achieve higher maximum entry speeds – up to ∼34% and ∼60% in high and low tyre-road friction conditions – than the formulations without preview.Taylor & FrancisDadun. Depósito Académico Digital Universidad de Navarra20222022-01-0120222022-01-01journal articlehttp://purl.org/coar/resource_type/c_6501info:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/10171/120477reponame:Dadun. Depósito Académico Digital de la Universidad de Navarrainstname:Universidad de NavarraInglésengopen accesshttp://purl.org/coar/access_right/c_abf2info:eu-repo/semantics/openAccessoai:dadun.unav.edu:10171/1204772026-06-21T12:47:57Z |
| dc.title.none.fl_str_mv |
On pre-emptive vehicle stability control |
| title |
On pre-emptive vehicle stability control |
| spellingShingle |
On pre-emptive vehicle stability control Parra, A. (Alberto)|||/items/e75bf847-aebc-4f63-9717-71c8ac8f3992 Nonlinear model predictivecontrol Stability control Torque-vectoring Direct yawmoment control Trailbraking Pre-emptive control |
| title_short |
On pre-emptive vehicle stability control |
| title_full |
On pre-emptive vehicle stability control |
| title_fullStr |
On pre-emptive vehicle stability control |
| title_full_unstemmed |
On pre-emptive vehicle stability control |
| title_sort |
On pre-emptive vehicle stability control |
| dc.creator.none.fl_str_mv |
Parra, A. (Alberto)|||/items/e75bf847-aebc-4f63-9717-71c8ac8f3992 Tavernini, D. (Davide)|||/items/d741e3d7-f2e2-47ce-8d08-83af13faa99f Gruber, P. (Patrick)|||/items/873b003e-140c-4ad1-9735-85e389a5c8bc Sorniotti, A. (Aldo)|||/items/eb4b6827-c532-47de-b29c-1460714c8531 Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40 |
| author |
Parra, A. (Alberto)|||/items/e75bf847-aebc-4f63-9717-71c8ac8f3992 |
| author_facet |
Parra, A. (Alberto)|||/items/e75bf847-aebc-4f63-9717-71c8ac8f3992 Tavernini, D. (Davide)|||/items/d741e3d7-f2e2-47ce-8d08-83af13faa99f Gruber, P. (Patrick)|||/items/873b003e-140c-4ad1-9735-85e389a5c8bc Sorniotti, A. (Aldo)|||/items/eb4b6827-c532-47de-b29c-1460714c8531 Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40 |
| author_role |
author |
| author2 |
Tavernini, D. (Davide)|||/items/d741e3d7-f2e2-47ce-8d08-83af13faa99f Gruber, P. (Patrick)|||/items/873b003e-140c-4ad1-9735-85e389a5c8bc Sorniotti, A. (Aldo)|||/items/eb4b6827-c532-47de-b29c-1460714c8531 Zubizarreta, A. (Asier)|||/items/6b26b887-170a-4613-9537-7b8c2c9d69bf Pérez-Rastelli, J. (Joshué)|||/items/04553204-375c-44c9-afe0-30ca1810fd40 |
| author2_role |
author author author author author |
| dc.contributor.none.fl_str_mv |
Dadun. Depósito Académico Digital Universidad de Navarra |
| dc.subject.none.fl_str_mv |
Nonlinear model predictivecontrol Stability control Torque-vectoring Direct yawmoment control Trailbraking Pre-emptive control |
| topic |
Nonlinear model predictivecontrol Stability control Torque-vectoring Direct yawmoment control Trailbraking Pre-emptive control |
| description |
Future vehicle localisation technologies enable major enhancements of vehicle dynamics control. This study proposes a novel vehicle stability control paradigm, based on pre-emptive control that considers the curvature profile of the expected path ahead in the computation of the reference direct yaw moment and braking control action. The additional information allows pre-emptive trail braking control, which slows down the vehicle if the predicted speed profile based on the current torque demand is deemed incompatible with the reference trajectory ahead. Nonlinear model predictive control is used to implement the approach, in which also the steering angle and reference yaw rate provided to the internal model are varied along the prediction horizon, to account for the expected vehicle path. Two pre-emptive stability control configurations with different levels of complexity are proposed and compared with the passive vehicle, and two state-of-the-art nonlinear model predictive stability controllers, one with and one without non-pre-emptive trail braking control. The performance is assessed along obstacle avoidance tests, simulated with a high-fidelity model of an electric vehicle with in-wheel motors. Results show that the pre-emptive controllers achieve higher maximum entry speeds – up to ∼34% and ∼60% in high and low tyre-road friction conditions – than the formulations without preview. |
| publishDate |
2022 |
| dc.date.none.fl_str_mv |
2022 2022-01-01 2022 2022-01-01 |
| dc.type.none.fl_str_mv |
journal article http://purl.org/coar/resource_type/c_6501 |
| dc.type.openaire.fl_str_mv |
info:eu-repo/semantics/article |
| format |
article |
| dc.identifier.none.fl_str_mv |
https://hdl.handle.net/10171/120477 |
| url |
https://hdl.handle.net/10171/120477 |
| dc.language.none.fl_str_mv |
Inglés eng |
| language_invalid_str_mv |
Inglés |
| language |
eng |
| dc.rights.none.fl_str_mv |
open access http://purl.org/coar/access_right/c_abf2 |
| dc.rights.openaire.fl_str_mv |
info:eu-repo/semantics/openAccess |
| rights_invalid_str_mv |
open access http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.none.fl_str_mv |
application/pdf |
| dc.publisher.none.fl_str_mv |
Taylor & Francis |
| publisher.none.fl_str_mv |
Taylor & Francis |
| dc.source.none.fl_str_mv |
reponame:Dadun. Depósito Académico Digital de la Universidad de Navarra instname:Universidad de Navarra |
| instname_str |
Universidad de Navarra |
| reponame_str |
Dadun. Depósito Académico Digital de la Universidad de Navarra |
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Dadun. Depósito Académico Digital de la Universidad de Navarra |
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| repository.mail.fl_str_mv |
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1869420742720880640 |
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15,811543 |