Stability Region based Vehicle Lateral Control Using Non-Overshooting MPC

Abstract

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.