Journal ArticleDOI
Model predictive control of vehicle stability using coordinated active steering and differential brakes
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TLDR
In this paper, a bicycle model of the vehicle and the moment of the differential brakes is considered as an external torque is used to predict the lateral stability of vehicles using coordinated active front steering and differential brakes.About:
This article is published in Mechatronics.The article was published on 2017-12-01. It has received 72 citations till now. The article focuses on the topics: Active steering & Yaw.read more
Citations
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Journal ArticleDOI
A Gain Scheduled Robust Linear Quadratic Regulator for Vehicle Direct Yaw Moment Control
TL;DR: A gain scheduled Robust Linear Quadratic Regulator (RLQR), in which an extra control term is added to the feedback contribution of a conventional LQR to limit the closed-loop tracking error in a neighbourhood of the origin of its state-space, despite the uncertainties and disturbances acting on the plant.
Journal ArticleDOI
Integrated nonlinear model predictive control for automated driving
TL;DR: A Nonlinear Model Predictive Control scheme to perform evasive maneuvers and avoid rear-end collisions and incorporates constraints to ensure vehicle stability and account for actuator limitations is presented.
Journal ArticleDOI
Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal-Lateral Control
TL;DR: Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.
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Chassis Coordinated Control for Full X-by-Wire Vehicles-A Review
TL;DR: In this paper, the authors provide a complete and systematic survey on chassis coordinated control methods for full X-by-wire vehicles, with the primary goal of summarizing recent reserch advancements and stimulating innovative thoughts.
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Integrated model reference adaptive control to coordinate active front steering and direct yaw moment control
TL;DR: The main contribution is to present an integrated multi-input multi-output (MIMO) adaptive control method to manage the variations of vehicle mass and tire-road friction coefficient as parameter uncertainties.
References
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Journal ArticleDOI
Predictive Active Steering Control for Autonomous Vehicle Systems
TL;DR: The effectiveness of the proposed MPC formulation is demonstrated by simulation and experimental tests up to 21 m/s on icy roads, and two approaches with different computational complexities are presented.
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qpOASES: a parametric active-set algorithm for quadratic programming
TL;DR: The open-source C++ software package qpOASES is described, which implements a parametric active-set method in a reliable and efficient way and can be used to compute critical points of nonconvex QP problems.
Journal ArticleDOI
MPC-based yaw and lateral stabilisation via active front steering and braking
TL;DR: In this paper, a path following Model Predictive Control-based (MPC) scheme utilizing steering and braking is proposed to track a desired path for obstacle avoidance maneuver, by a combined use of braking and steering.
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Vehicle Yaw Stability Control by Coordinated Active Front Steering and Differential Braking in the Tire Sideslip Angles Domain
TL;DR: A control architecture that has the potential of improving yaw stability control by achieving faster convergence and reduced impact on the longitudinal dynamics is investigated and is capable of real-time execution in automotive-grade electronic control units.
Journal ArticleDOI
Linear Time Varying Model Predictive Control and its Application to Active Steering Systems: Stability Analysis and Experimental Validation
TL;DR: In this paper, a Model Predictive Control (MPC) approach for controlling an active front steering (AFS) system in an autonomous vehicle is presented, where at each time step a trajectory is assumed to be known over a finite horizon, and an MPC controller computes the front steering angle in order to best follow the desired trajectory on slippery roads at the highest possible entry speed.