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- W3048650654 abstract "When a vehicle is driving at high speed, steering violently, engaging in emergency acceleration or braking, or driving on a road with a low friction coefficient, there is a high risk that the manipulability and stability of the vehicle will be lost. From this, many active safety control systems have been developed and implemented. However, in the extreme driving situations, tires work in a highly nonlinear region, and the coupling between the longitudinal and lateral motion of a vehicle becomes significant and influences vehicle stability, and these systems consider only the longitudinal or lateral motion stability of a vehicle. Based on the above considerations, this paper proposes a model predictive controller for a 4WIMD electric vehicle operating on a road with a low friction coefficient, in order to improve the vehicle longitudinal and lateral stability. First, a vehicle dynamic model is designed based on the LuGre combined-slip tire model, which simultaneously incorporates the effect of the slip ratio and sideslip angle at each wheel; and the vehicle dynamics model also considers the variation of the vehicle longitudinal velocity as a disturbance. Then, the objectives of tracking the reference signals for the yaw rate and lateral velocity, reducing the tire slip ratios, and satisfying the required torques are balanced in the objective function. Finally, the torques for the independent motors are obtained by efficiently solving the optimal control problem with these multiple conflicting objectives. The performance is evaluated via co-simulations with CarSim and MATLAB/Simulink. The results show that the proposed controller achieves better performance than a controller based on the pure-slip tire model and effectively saves more energy." @default.
- W3048650654 created "2020-08-18" @default.
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- W3048650654 date "2020-08-01" @default.
- W3048650654 modified "2023-10-14" @default.
- W3048650654 title "Coordinated longitudinal and lateral vehicle stability control based on the combined-slip tire model in the MPC framework" @default.
- W3048650654 doi "https://doi.org/10.1109/ccdc49329.2020.9164728" @default.
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