Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 70, Issue 8, Pages 7536-7546Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2021.3091809
Keywords
Tires; Predictive models; Wheels; Force; Computational modeling; Autonomous vehicles; Predictive control; T-S fuzzy model; Yaw stability control; Model predictive control; Vehicle nonlinearities; Autonomous vehicles
Categories
Funding
- Automobile and Intelligent Connected Automobile Industry Innovation Project of Anhui Provinece [JAC2019022505]
- National Natural Science Foundation of China [51675293]
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This study proposes a model predictive control (MPC) method based on the Takagi-Sugeno (T-S) fuzzy model to realize yaw stability control (YSC) in the nonlinear region. The results show that the proposed strategy has similar performance in the vehicle stable region with linear MPC, and it is able to suppress the instability of the vehicle in the nonlinear region, with an acceptable computation burden.
Safety at high speed is the most important performance of autonomous vehicle. Wherein, yaw stability control (YSC) is a key technology to improve vehicle safety. However, the high-speed vehicles are easy to be out of control in nonlinear region, which will result in serious accidents. This study proposes a model predictive control (MPC) method based on the Takagi-Sugeno (T-S) fuzzy model to realize YSC in the nonlinear region. Firstly, a T-S fuzzy model of vehicle is established based on a two-degree-of-freedom model to describe the vehicle dynamic characteristics in the nonlinear region. Then, a robust MPC is designed and its solution is given in the linear matrix inequalities (LMIs) form. Next, a sliding mode controller (SMC) is proposed to prevent wheel lock in the YSC process. Finally, the proposed strategy is verified in simulations and experiments. The results show that the proposed strategy has similar performance in vehicle stable region with linear MPC, and shows the ability to suppress the instability of the vehicle in the nonlinear region, and its computation burden is acceptable.
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