Nonlinear hierarchical control allocation for vehicle yaw stabilization and rollover prevention

This work presents an approach to rollover prevention that takes advantage of the modular structure and optimisation properties of the control allocation paradigm. It eliminates the need for a stabilising roll controller by introducing rollover prevention as a constraint on the control allocation problem. The major advantage of this approach is the control authority margin that remains with a high-level controller even during interventions for rollover prevention. In this work, the high-level control is assigned to a yaw stabilising controller. It could be replaced by any other controller. The constraint for rollover prevention could be replaced by or extended to different control objectives. This work uses differential braking for actuation. The use of additional or different actuators is possible. The developed control algorithm is computationally efficient and suitable for low-cost automotive electronic control units. The predictive design of the rollover prevention constraint does not require any sensor equipment in addition to the yaw controller. The method is validated using an industrial multi-body vehicle simulation environment.

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“…The method is validated using an industrial multi-body vehicle simulation environment. This paper extends the results from [19].…”

Section: Introductionsupporting

confidence: 50%

Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

Alberding

Tjønnås

Johansen³

2014

Vehicle System Dynamics

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“…Using polyhedral approximation of the friction ellipsoids, a quadratic programming approach is taken to allocation error minimization in (Schofield, Hägglund & Rantzer 2006). In (Alberding, Tjønnås & Johansen 2009), the dynamic nonlinear control allocation approach of (Tjønnås & Johansen 2010) is extended to include rollover prevention objectives.…”

Section: Rollover Preventionmentioning

confidence: 99%

Control allocation—A survey

2013

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The control algorithm hierarchy of motion control for over-actuated mechanical systems with a redundant set of effectors and actuators commonly includes three levels. First, a high-level motion control algorithm commands a vector of virtual control efforts (i.e. forces and moments) in order to meet the overall motion control objectives. Second, a control allocation algorithm coordinates the different effectors such that they together produce the desired virtual control efforts, if possible. Third, low-level control algorithms may be used to control each individual effector via its actuators. Control allocation offers the advantage of a modular design where the high-level motion control algorithm can be designed without detailed knowledge about the effectors and actuators. Important issues such as input saturation and rate constraints, actuator and effector fault tolerance, and meeting secondary objectives such as power efficiency and tear-and-wear minimization are handled within the control allocation algorithm. The objective of the present paper is to survey control allocation algorithms, motivated by the rapidly growing range of applications that have expanded from the aerospace and maritime industries, where control allocation has its roots, to automotive, mechatronics, and other industries. The survey classifies the different algorithms according to two main classes based on the use of linear or nonlinear models, respectively. The presence of physical constraints (e.g input saturation and rate constraints), operational constraints and secondary objectives makes optimization-based design a powerful approach. The simplest formulations allow explicit solutions to be computed using numerical linear algebra in combination with some logic and engineering solutions, while the more challenging formulations with nonlinear models or complex constraints and objectives call for iterative numerical optimization procedures. Experiences using the different methods in aerospace, maritime, automotive and other application areas are discussed. The paper ends with some perspectives on new applications and theoretical challenges.

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“…The figure also shows that the sideslip angle does not exceed 5 degrees which attest the good lateral behavior of the vehicle on the whole maneuver. Notice that this stability is preserved thanks to the combination of the two criteria (15) and (18).…”

Section: B Simulations and Resultsmentioning

confidence: 87%

“…The two criteria are evaluated in a parallel way and the minimum speed value is considered as the reference cruise speed. Let us remark that further criteria like inter-vehicular distance [2], [17] or indicators for rollover prevention [18] can be considered. The interest of the whole control strategy is shown in the next section.…”

Section: A Reference Speed Profile Generatormentioning

confidence: 99%

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Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle

Attia

Orjuela

Basset

2012

2012 American Control Conference (ACC)

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In this paper a coupled longitudinal and lateral control strategy for an autonomous automotive vehicle is proposed. The proposed control scheme consists of a lateral guidance module based on a NonLinear Model-based Predictive Controller (NLMPC) and a cruise speed generation and regulation module. A cruise speed-profile generator allows the calculation of the cruise speed which preserves the lateral stability of the vehicle during lateral maneuvers. The calculation of the cruise speed profile is done considering road geometry as well as lateral dynamics criteria. The handling of both longitudinal and lateral dynamics in addition to the calculation of the limit cruise speed profile by considering lateral stability criteria illustrate the interest of the proposed approach. The developed control architecture is tested through simulation and shows good performance for guidance at high cruise speeds.

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Nonlinear hierarchical control allocation for vehicle yaw stabilization and rollover prevention

Cited by 11 publications

References 14 publications

Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation

Control allocation—A survey

Coupled longitudinal and lateral control strategy improving lateral stability for autonomous vehicle

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