A Three-Dimensional Integrated Non-Linear Coordinate Control Framework for Combined Yaw- and Roll-Stability Control during Tyre Blow-Out

Abstract

A tyre blow-out can greatly affect vehicle stability and cause serious accidents. In the literature, however, studies on comprehensive three-dimensional vehicle dynamics modelling and stability control strategies in the event of a sudden tyre blow-out are seriously lacking. In this study, a comprehensive 14 degrees-of-freedom (DOF) vehicle dynamics model is first proposed to describe the vehicle yaw-plane and roll-plane dynamics performance after a tyre blow-out. Then, based on the proposed 14 DOF dynamics model, an integrated control framework for a combined yaw plane and roll-plane stability control is presented. This integrated control framework consists of a vehicle state predictor, an upper-level control mode supervisor and a lower-level 14 DOF model predictive controller (MPC). The state predictor is designed to predict the vehicle’s future states, and the upper-level control mode supervisor can use these future states to determine a suitable control mode. After that, based on the selected control mode, the lower-level MPC can control the individual driving actuator to achieve the combined yaw plane and roll plane control. Finally, a series of simulation tests are conducted to verify the effectiveness of the proposed control strategy.

Toward Fault-Tolerant Vehicle Motion Control for Over-Actuated Automated Vehicles: A Non-Linear Model Predictive Approach

“…Again, MPC is mostly used as the upper control layer in hierarchical two-layer control structures, where the lower control layer features optimal control allocation [36], [37], [40], or sliding mode control [39]. MPC as the sole control technique is only found in fault-tolerant control approaches targeting tire blowouts, which purely rely on front-axle steering [41], [42], [43], [44], [45].…”

Advanced Sensing and Control for Connected and Automated Vehicles

“…This Special Issue of Sensors aims at reporting on some of the recent research efforts on this increasingly important topic. The 12 accepted papers in this Issue cover vehicle position estimation [1], vehicle dynamic parameters estimation [2], cooperative collision warning systems [3], small object detection [4], impact identification of the driver's driving performance on executive control function [5], hybrid path planning for autonomous driving [6], trajectory tracking for autonomous driving [7], vehicle stability control [8], vehicle stability and ride comfort control [9], urban platooning protocol design for platoon [10], path planning algorithm for platooning [11], and self-driving architecture design for CAV platoon [12].…”

“…In [8], studies on comprehensive three-dimensional vehicle dynamics modelling and stability control strategies in the event of a sudden tire blow-out are conducted. An integrated control framework for a combined yaw plane and roll-plane stability control is presented.…”

“…An integrated control framework for a combined yaw plane and roll-plane stability control is presented. The authors of [8] concluded that the proposed lower-level MPC can successfully improve the roll stability in the challenging scenario of a tire blow-out during a fishhook maneuver when the vehicle has a big load transfer.…”

“…In summary, there is a huge potential for CAV in collision avoidance, safety improvement and driving stability improvement. The papers gathered in this Special Issue contributed by proposing solutions to the general problem of state and/or parameter estimation [1][2][3], obstacle detection [4], driver behavior estimation [5], and/or classical academic problems such as path planning [6], path tracking [7], and stability control for autonomous driving [8,9] and/or by suggesting applications of the combined use of sensors and advanced algorithms to platooning [10][11][12], thus showing the theoretical challenges and practical interest of this research topic. Finally, we wish to thank the authors, reviewers, and journal staff for their commitment and effort, which made it possible to complete this Special Issue on time.…”