Vehicle and Wheels Stability Defined Using Driving Envelope Protection Algorithm

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376385" target="_blank" >RIV/68407700:21230/24:00376385 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/TITS.2024.3362064" target="_blank" >https://doi.org/10.1109/TITS.2024.3362064</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TITS.2024.3362064" target="_blank" >10.1109/TITS.2024.3362064</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Vehicle and Wheels Stability Defined Using Driving Envelope Protection Algorithm

Popis výsledku v původním jazyce

This paper introduces Model Predictive Control for Driving Envelope Protection (MPC for DEP), a novel strategy aimed at enhancing vehicle stability derived from wheel limits, like locking, wheelspin, and skidding. Inspired by aerospace practices, MPC for DEP first defines stable maneuver boundaries based on vehicle controllability, ensuring the driver can control the vehicle’s dynamics being inside the driving envelope. Utilizing model predictive control, this approach keeps the vehicle within predefined combined wheel slip limits, suitable for various vehicle configurations. This formulation is independent of friction properties. The paper presents a comprehensive control framework that integrates braking, acceleration, and steering actions while mirroring the driver’s commands and confines to the driving envelope. Extensive experiments conducted using IPG CarMaker validate the controller’s performance in scenarios such as sine with dwell, slippery surface acceleration, and braking while cornering with and without friction split pad. Results showcase the controller’s robustness across diverse driving conditions, promising improved vehicle stability and safety. This work simplifies control architectures and sets the stage for safer and more stable vehicles.

Název v anglickém jazyce

Vehicle and Wheels Stability Defined Using Driving Envelope Protection Algorithm

Popis výsledku anglicky

This paper introduces Model Predictive Control for Driving Envelope Protection (MPC for DEP), a novel strategy aimed at enhancing vehicle stability derived from wheel limits, like locking, wheelspin, and skidding. Inspired by aerospace practices, MPC for DEP first defines stable maneuver boundaries based on vehicle controllability, ensuring the driver can control the vehicle’s dynamics being inside the driving envelope. Utilizing model predictive control, this approach keeps the vehicle within predefined combined wheel slip limits, suitable for various vehicle configurations. This formulation is independent of friction properties. The paper presents a comprehensive control framework that integrates braking, acceleration, and steering actions while mirroring the driver’s commands and confines to the driving envelope. Extensive experiments conducted using IPG CarMaker validate the controller’s performance in scenarios such as sine with dwell, slippery surface acceleration, and braking while cornering with and without friction split pad. Results showcase the controller’s robustness across diverse driving conditions, promising improved vehicle stability and safety. This work simplifies control architectures and sets the stage for safer and more stable vehicles.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/8X20037" target="_blank" >8X20037: Návrh nelineárních řídících systémů s plnou kontrolou nad dynamikou vozu</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Intelligent Transportation Systems

ISSN

1524-9050

e-ISSN

1558-0016

Svazek periodika

25

Číslo periodika v rámci svazku

9

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

13

Strana od-do

11304-11316

Kód UT WoS článku

001340216400062

EID výsledku v databázi Scopus

2-s2.0-85186065405