Model Predictive Vehicle Yaw Stability Control via Integrated Active Front Wheel Steering and Individual Braking

Abstract

Vehicle stability control systems are important components of active safety systems for road transport. The problem of vehicle lateral stability control is addressed in this paper using active front wheel steering and individual braking. Vehicle lateral stability control means keeping the vehicle yaw rate and the vehicle side slip angle in desired values. For this reason, a model-based controller is designed. The desired yaw rate is obtained from the single track vehicle model and the desired side slip angle is chosen as zero. Controller design consists of two parts, lower and upper controller parts. Upper controller is designed based on Model Predictive Control (MPC) method. This upper controller changes front wheel steering angles utilizing steer-by-wire system and also it generates the required control moment for stabilizing the yaw motion of the vehicle. Lower controller is an individual braking algorithm. It determines the individual braking wheel. In this way, the control moment can be applied to the vehicle. The designed controller is tested using the nonlinear single track vehicle model and the higher fidelity CarMaker vehicle model.