Browse Publications Technical Papers 2024-01-2324
2024-04-09

Vehicle Yaw Stability Model Predictive Control Strategy for Dynamic and Multi-Objective Requirements 2024-01-2324

Vehicle yaw stability control (YSC) can actively adjust the working state of the chassis actuator to generate a certain additional yaw moment for the vehicle, which effectively helps the vehicle maintain good driving quality under strong transient conditions such as high-speed turning and continuous lane change. However, the traditional YSC pursues too much driving stability after activation, ignoring the difference of multi-objective requirements of yaw maneuverability, actuator energy consumption and other requirements in different vehicle stability states, resulting in the decline of vehicle driving quality. Therefore, a vehicle yaw stability model predictive control strategy for dynamic and multi-objective requirements is proposed in this paper. Firstly, the unstable characteristics of vehicle motion are analyzed, and the nonlinear two-degree-of-freedom vehicle dynamics models are established respectively. Secondly, the vehicle yaw stability control strategy is designed: The two-line method is used to extract the boundary of ββ̇ phase portrait. On this basis, the geometric distance quantization method is applied to establish the dynamic mapping relationship between the multi-objective requirements of driving stability, yaw maneuverability, actuator energy consumption and the weight of YSC cost function in different vehicle stability states. The model predictive theory and rule-based single wheel differential braking technology are applied to achieve vehicle stability control. Finally, a joint simulation platform is built based on vehicle dynamics simulation software CarSim and MATLAB/Simulink for testing and verification. The simulation results show that the YSC designed in this paper can adaptively adjust the controller output according to the dynamic multi-objective requirements in different vehicle stability states, and effectively improve the driving quality of the vehicle under strong transient conditions.

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