Vehicle stability enhancement and rollover prevention by a nonlinear predictive control method

Arslan, M. Selçuk; Sever, Mert

doi:10.1177/0142331218795200

Cited by 22 publications

(13 citation statements)

References 41 publications

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“…The expression of the lateral force of the tire in the entire grounding footprint can be obtained by combining Eqs. (15) and (16):As can be seen from the above Eq. 17, the lateral force F y (X) of the tire is a function of the distance X .…”

Section: Tire Lateral Transient Model Without Considering the Impact mentioning

confidence: 86%

“…The longitudinal transient characteristics of the tire is mainly caused by the elasticity of the tire carcass, which is reflected by the hysteresis of the longitudinal force of the tire relative to the driving torque of the tire [12][13][14][15][16]. The parameter reflecting longitudinal transient characteristics of the tire is the longitudinal relaxation length.…”

Section: Tire Longitudinal Transient Modelingmentioning

confidence: 99%

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Tire Dynamics Modeling Method Based on Rapid Test Method

et al. 2020

Chin. J. Mech. Eng.

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Combined with the tire dynamics theoretical model, a rapid test method to obtain tire lateral and longitudinal both steady-state and transient characteristics only based on the tire quasi-steady-state test results is proposed. For steady state data extraction, the test time of the rapid test method is half that of the conventional test method. For transient tire characteristics the rapid test method omits the traditional tire test totally. At the mean time the accuracy of the two method is much closed. The rapid test method is explained theoretically and the test process is designed. The key parameters of tire are extracted and the comparison is made between rapid test and traditional test method. The result show that the identification accuracy based on the rapid test method is almost equal to the accuracy of the conventional one. Then, the heat generated during the rapid test method and that generated during the conventional test are calculated separately. The comparison shows that the heat generated during the rapid test is much smaller than the heat generated during the conventional test process. This benefits to the reduction of tire wear and the consistency of test results. Finally, it can be concluded that the fast test method can efficiently, accurately and energy-efficiently measure the steady-state and transient characteristics of the tire.

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Section: Tire Lateral Transient Model Without Considering the Impact mentioning

confidence: 86%

Section: Tire Longitudinal Transient Modelingmentioning

confidence: 99%

Tire Dynamics Modeling Method Based on Rapid Test Method

et al. 2020

Chin. J. Mech. Eng.

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“…17that the vehicle will rollover when the absolute value of LTR is more than one. However, the vertical load is hard to measure or estimate in real-time, especially in tripped rollover and emergency case [28]. Therefore, the LTR should be transformed to another expression to evaluate the rollover.…”

Section: Figure 2 a Seven Degree Of Freedom Dynamic Model For Heavy Tmentioning

confidence: 99%

Anti-rollover Motion Planning for Automated Heavy Trucks

Jin

Wang

et al. 2020

Preprint

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Anti-rollover is an important performance for automated heavy trucks, which has been seldomly considered in the motion planning. This paper proposes an anti-rollover motion planning based on model predictive control (MPC) for automated heavy trucks. Taking the coupling of roll motion of sprung mass of the front axle with that of the drive axle into consideration, a seven degrees of freedom rollover dynamics model is established, and an evaluation index that can accurately describe the rollover motion is derived for heavy trucks. Then, a model predictive control strategy is designed for motion planning that combines the rollover dynamics, the artificial potential field for obstacle avoidance, and the trajectory tracking. In addition, the optimal path is calculated that considers collision avoidance, anti-rollover and vehicle dynamic constraints. Furthermore, three typical scenarios are applied to validate the performance of the proposed motion planning algorithm. The obtained results demonstrate that the proposed anti-rollover motion planning can effectively avoid collisions and reduce the rollover risk simultaneously when confronting edge scenarios.

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“…Although acceptable performance can be achieved for most occasions using LMPC (Arslan and Sever, 2019;Wang et al, 2019), there are always various disturbances on UVs deteriorating its practical effect, such as model uncertainties, errors caused by the limited actuator precision and tire slip. There are some methods deserve attention, such as adaptive control (Liu et al, 2020(Liu et al, , 2021 and ADRC (Han, 2009).…”

Section: Introductionmentioning

confidence: 99%

A lateral control strategy for unmanned ground vehicles with model predictive control and active disturbance rejection control

Zuo

Yang

Wang

et al. 2021

Transactions of the Institute of Measurement and Control

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This paper presents a lateral control strategy with kinematic state error model-based predictive control and extended state observer for unmanned ground vehicles. Firstly, we propose a circular arc prediction technique to calculate the state of the reference system. Then, inspired by the idea of active disturbance rejection control, an extended state observer is utilized to estimate the value of the total disturbance caused by modeling uncertainties, external disturbance, and other factors in order to compensate model error. Finally, we propose a lateral controller that combines model-based prediction with extended state observer through state feedback to achieve precise trajectory tracking. The performance of the proposed control strategy is demonstrated by a co-simulation between CarSim and MATLAB/Simulink.

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Vehicle stability enhancement and rollover prevention by a nonlinear predictive control method

Cited by 22 publications

References 41 publications

Tire Dynamics Modeling Method Based on Rapid Test Method

Tire Dynamics Modeling Method Based on Rapid Test Method

Anti-rollover Motion Planning for Automated Heavy Trucks

A lateral control strategy for unmanned ground vehicles with model predictive control and active disturbance rejection control

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