Vehicle Stability Control: Model Predictive Approach and Combined-Slip Effect
Ehsan Hashemi, Milad Jalali, Amir Khajepour, Alireza Kasaiezadeh, Shih-Ken Chen
Abstract
This article presents a model predictive vehicle stability controller that considers tire force nonlinearities and the combined-slip effect. Loss of cornering forces caused by increased longitudinal slip and changes in the slip angle due to the vehicle lateral response are considered in the prediction model of the controller. The developed controller adjusts tire slip ratios based on forces of the front and rear axles, monitors tire capacities, and normal forces, and exhibits excellent performance in maintaining lateral responses within a stable region. The performance of the proposed predictive controller is assessed in software simulations as well as road experiments in various pure-slip and combined-slip driving scenarios and under different road friction conditions.