TY - GEN
T1 - Stability region based vehicle lateral control using non-overshooting MPC
AU - Huang, Yiwen
AU - Chen, Yan
N1 - Publisher Copyright:
© 2019 American Automatic Control Council.
PY - 2019/7
Y1 - 2019/7
N2 - One effective approach to guarantee vehicle driving safety is to design a vehicle stability control algorithm, which strictly limits vehicle states inside a predefined stability region without passing the region boundaries. To achieve such a goal, a general non-overshooting model predictive control (MPC) is designed in terms of four different non-overshooting constraints. Different system output responses are compared for the four non-overshooting constraints through numerical examples of both linear and nonlinear systems. Then, the strictest non-overshooting MPC constraint is applied to vehicle lateral control based on stability regions. The control objective is to strictly limit the vehicle states within the stability regions, which are varied for vehicle lateral motions. CarSim®/Simulink co-simulation results are demonstrated to validate the effectiveness of the proposed non-overshooting MPC design.
AB - One effective approach to guarantee vehicle driving safety is to design a vehicle stability control algorithm, which strictly limits vehicle states inside a predefined stability region without passing the region boundaries. To achieve such a goal, a general non-overshooting model predictive control (MPC) is designed in terms of four different non-overshooting constraints. Different system output responses are compared for the four non-overshooting constraints through numerical examples of both linear and nonlinear systems. Then, the strictest non-overshooting MPC constraint is applied to vehicle lateral control based on stability regions. The control objective is to strictly limit the vehicle states within the stability regions, which are varied for vehicle lateral motions. CarSim®/Simulink co-simulation results are demonstrated to validate the effectiveness of the proposed non-overshooting MPC design.
UR - http://www.scopus.com/inward/record.url?scp=85072267144&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85072267144&partnerID=8YFLogxK
U2 - 10.23919/acc.2019.8814685
DO - 10.23919/acc.2019.8814685
M3 - Conference contribution
AN - SCOPUS:85072267144
T3 - Proceedings of the American Control Conference
SP - 5525
EP - 5530
BT - 2019 American Control Conference, ACC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 American Control Conference, ACC 2019
Y2 - 10 July 2019 through 12 July 2019
ER -