Model Predictive Controller Design for Vehicle Motion Control at Handling Limits in Multiple Equilibria on Varying Road Surfaces

Electronic vehicle dynamics systems are expected to evolve in the future as more and more automobile manufacturers mark fully automated vehicles as their main path of development. State-of-the-art electronic stability control programs aim to limit the vehicle motion within the stable region of the vehicle dynamics, thereby preventing drifting. On the contrary, in this paper, the authors suggest its use as an optimal cornering technique in emergency situations and on certain road conditions. Achieving the automated initiation and stabilization of vehicle drift motion (also known as powerslide) on varying road surfaces means a high level of controllability over the vehicle. This article proposes a novel approach to realize automated vehicle drifting in multiple operation points on different road surfaces. A three-state nonlinear vehicle and tire model was selected for control-oriented purposes. Model predictive control (MPC) was chosen with an online updating strategy to initiate and maintain the drift even in changing conditions. Parameter identification was conducted on a test vehicle. Equilibrium analysis was a key tool to identify steady-state drift states, and successive linearization was used as an updating strategy. The authors show that the proposed controller is capable of initiating and maintaining steady-state drifting. In the first test scenario, the reaching of a single drifting equilibrium point with −27.5° sideslip angle and 10 m/s longitudinal speed is presented, which resulted in −20° roadwheel angle. In the second demonstration, the setpoints were altered across three different operating points with sideslip angles ranging from −27.5° to −35°. In the third test case, a wet to dry road transition is presented with 0.8 and 0.95 road grip values, respectively.

[1]  Fredrik Bruzelius,et al.  Path control in limit handling and drifting conditions using State Dependent Riccati Equation technique , 2020, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering.

[2]  Péter Gáspár,et al.  Road surface estimation based LPV control design for autonomous vehicles , 2019, IFAC-PapersOnLine.

[3]  Péter Gáspár,et al.  Challenges and Possibilities of Overtaking Strategies for Autonomous Vehicles , 2020 .

[4]  Tamás Tettamanti,et al.  Optimally combined headway and timetable reliable public transport system , 2018 .

[5]  Sung-Ho Hwang,et al.  Torque Distribution Algorithm for an Independently Driven Electric Vehicle Using a Fuzzy Control Method: Driving Stability and Efficiency , 2015, Energies.

[6]  Dietmar Göhlich,et al.  Integrated traction control strategy for distributed drive electric vehicles with improvement of economy and longitudinal driving stability , 2017 .

[7]  Yu Meng,et al.  A New Path Tracking Method Based on Multilayer Model Predictive Control , 2019, Applied Sciences.

[8]  Petr Husek,et al.  Linearization: Students Forget the Operating Point , 2010, IEEE Transactions on Education.

[9]  Hans B. Pacejka,et al.  THE MAGIC FORMULA TYRE MODEL , 1991 .

[10]  Tianmin Sun,et al.  Continuous Steering Stability Control Based on an Energy-Saving Torque Distribution Algorithm for a Four in-Wheel-Motor Independent-Drive Electric Vehicle , 2018 .

[11]  Guoye Wang,et al.  Robust Control with Uncertain Disturbances for Vehicle Drift Motions , 2021, Applied Sciences.

[12]  Jiawei Wang,et al.  Adaptive Cruise Control for Cut-In Scenarios Based on Model Predictive Control Algorithm , 2021, Applied Sciences.

[13]  Herbert A. Mang,et al.  A new 3-D finite element model for cord-reinforced rubber composites: application to analysis of automobile tires , 1993 .

[14]  G. Martin,et al.  Nonlinear model predictive control , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[15]  Emilio Frazzoli,et al.  Steady-state cornering equilibria and stabilisation for a vehicle during extreme operating conditions , 2010 .

[16]  Emilio Frazzoli,et al.  A Survey of Motion Planning and Control Techniques for Self-Driving Urban Vehicles , 2016, IEEE Transactions on Intelligent Vehicles.

[17]  Árpád Török,et al.  Evaluation of the Impact of Spatial and Environmental Accident Factors on Severity Patterns of Road Segments , 2020 .

[18]  R Hadekel THE MECHANICAL CHARACTERISTICS OF PNEUMATIC TIRES , 1952 .

[19]  Kyongsu Yi,et al.  A new control approach for automated drifting in consideration of the driving characteristics of an expert human driver , 2020 .

[20]  Zsolt Szalay,et al.  Novel design concept for an automotive proving ground supporting multilevel CAV development , 2019 .

[21]  Konghui Guo,et al.  UniTire: unified tire model for vehicle dynamic simulation , 2007 .

[22]  R. Madleňák,et al.  Road Safety Macro Assessment Model: Case Study for Hungary , 2020 .