| 제목 |
VEHICLE STABILITY CONTROL THROUGH PRE-EMPTIVE BRAKING
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| 분야 |
Transmission and Driveline |
| 언어 |
English |
| 저자 |
Giuseppe Guastadisegni(University of Surrey), Kai Man So(University of Surrey), Alberto Parra(University of Surrey), Davide Tavernini(University of Surrey), Umberto Montanaro(University of Surrey), Patrick Gruber(University of Surrey), Leonardo Soria(University of Surrey), Giacomo Mantriota(University of Surrey), Aldo Sorniotti(University of Surrey) |
| Key Words |
Nonlinear model predictive control, Stability control, Pre-emptive control, Braking, Sideslip angle constraint, Reference curvature |
| 초록 |
Next-generation accurate vehicle localization and connectivity technologies will enable significant improvements in vehicle dynamics control. This study proposes a novel control function, referred to as pre-emptive braking, which imposes a braking action if the current vehicle speed is deemed safety-critical with respect to the curvature of the expected path ahead. Differently from the implementations in the literature, the pre-emptive braking input is designed to: a) enhance the safety of the transient vehicle response without compromising the capability of reaching the cornering limit, which is a significant limitation of the algorithms proposed so far; and b) allow – in its most advanced implementation – to precisely constrain the sideslip angle to set levels only through the pre-emptive control of the longitudinal vehicle dynamics, without the application of any direct yaw moment, typical of conventional stability control systems. To this purpose, a real-time-capable nonlinear model predictive control (NMPC) formulation based on a double track vehicle prediction model is presented, and implemented in its implicit form, which is applicable to both human-driven and automated vehicles, and acts as an additional safety function to compensate for human or virtual driver errors in extreme conditions. Its performance is compared with that of: i) two simpler – yet innovative with respect to the state-of-the-art – pre-emptive braking controllers, namely an NMPC implementation based on a dynamic point mass vehicle model, and a pre-emptive rule-based controller; and ii) a benchmarking non-pre-emptive rule-based trail braking controller. The benefits of pre-emptive braking are evaluated through vehicle dynamics simulations with an experimentally validated vehicle model, as well as a proof-of-concept implementation on an automated electric vehicle prototype.
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