Performance Benchmark of Yaw Rate Controllers by Active Front Steering: Comparative Analysis of Model Predictive Control, Linear Quadratic Integral Control and Yaw Moment Observer

Abstract

Although extensive research has been conducted to design active steering controllers for self-driving vehicles, the cross comparison between those controllers has not been studied much yet. Thus, we developed a benchmark to compare yaw rate control methods by active front steering. Three yaw rate controllers, model predictive control, linear quadratic integral control and yaw moment observer-based control, were compared in terms of four evaluation indices: slew rate of actuator input, emergency performance, robustness against disturbance and stability performance of sideslip angle. The comparison was carried out in simulation environment with a 10 DoF vehicle dynamics model validated by an experiment.