A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles

Yanggu Zheng; Barys Shyrokau

doi:10.1109/ICMECH.2019.8722930

A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

7 Citations (Scopus)

109 Downloads (Pure)

Abstract

Loss of lateral stability remains a major cause of road accidents in recent years. Further improvement of passenger vehicle's active safety requires a more efficient utilization of the tire-road friction. Nonlinear model predictive control (NMPC) is expected to fulfill such a role, as the nonlinear characteristics of the vehicle are included and the control input is optimized. However, the computational load can be excessive for onboard hardware, which hinders the NMPC from practical implementation. To tackle the problem, this study proposes a method to improve the computational efficiency in NMPC. The proposed solution consists of an explicitly stored look-up table for generating initial guesses and an online optimization component. The look-up table is based on the offline solution of a hybrid MPC controller. Through the simulation with multibody vehicle model, impressive control performance has been observed, as the vehicle can be stabilized from a side-slip angle of up to 0.5 rad.

Original language	English
Title of host publication	Proceedings - 2019 IEEE International Conference on Mechatronics (ICM 2019)
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	519-524
ISBN (Electronic)	978-1-5386-6959-4
DOIs	https://doi.org/10.1109/ICMECH.2019.8722930
Publication status	Published - 2019
Event	2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany Duration: 18 Mar 2019 → 20 Mar 2019

Conference

Conference	2019 IEEE International Conference on Mechatronics, ICM 2019
Country/Territory	Germany
City	Ilmenau
Period	18/03/19 → 20/03/19

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

MPC
vehicle control

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10.1109/ICMECH.2019.8722930

08722930Final published version, 879 KB

Cite this

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title = "A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles",

abstract = "Loss of lateral stability remains a major cause of road accidents in recent years. Further improvement of passenger vehicle's active safety requires a more efficient utilization of the tire-road friction. Nonlinear model predictive control (NMPC) is expected to fulfill such a role, as the nonlinear characteristics of the vehicle are included and the control input is optimized. However, the computational load can be excessive for onboard hardware, which hinders the NMPC from practical implementation. To tackle the problem, this study proposes a method to improve the computational efficiency in NMPC. The proposed solution consists of an explicitly stored look-up table for generating initial guesses and an online optimization component. The look-up table is based on the offline solution of a hybrid MPC controller. Through the simulation with multibody vehicle model, impressive control performance has been observed, as the vehicle can be stabilized from a side-slip angle of up to 0.5 rad.",

keywords = "MPC, vehicle control",

author = "Yanggu Zheng and Barys Shyrokau",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 2019 IEEE International Conference on Mechatronics, ICM 2019 ; Conference date: 18-03-2019 Through 20-03-2019",

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AU - Zheng, Yanggu

AU - Shyrokau, Barys

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2019

Y1 - 2019

N2 - Loss of lateral stability remains a major cause of road accidents in recent years. Further improvement of passenger vehicle's active safety requires a more efficient utilization of the tire-road friction. Nonlinear model predictive control (NMPC) is expected to fulfill such a role, as the nonlinear characteristics of the vehicle are included and the control input is optimized. However, the computational load can be excessive for onboard hardware, which hinders the NMPC from practical implementation. To tackle the problem, this study proposes a method to improve the computational efficiency in NMPC. The proposed solution consists of an explicitly stored look-up table for generating initial guesses and an online optimization component. The look-up table is based on the offline solution of a hybrid MPC controller. Through the simulation with multibody vehicle model, impressive control performance has been observed, as the vehicle can be stabilized from a side-slip angle of up to 0.5 rad.

AB - Loss of lateral stability remains a major cause of road accidents in recent years. Further improvement of passenger vehicle's active safety requires a more efficient utilization of the tire-road friction. Nonlinear model predictive control (NMPC) is expected to fulfill such a role, as the nonlinear characteristics of the vehicle are included and the control input is optimized. However, the computational load can be excessive for onboard hardware, which hinders the NMPC from practical implementation. To tackle the problem, this study proposes a method to improve the computational efficiency in NMPC. The proposed solution consists of an explicitly stored look-up table for generating initial guesses and an online optimization component. The look-up table is based on the offline solution of a hybrid MPC controller. Through the simulation with multibody vehicle model, impressive control performance has been observed, as the vehicle can be stabilized from a side-slip angle of up to 0.5 rad.

KW - MPC

KW - vehicle control

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DO - 10.1109/ICMECH.2019.8722930

M3 - Conference contribution

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SP - 519

EP - 524

BT - Proceedings - 2019 IEEE International Conference on Mechatronics (ICM 2019)

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 2019 IEEE International Conference on Mechatronics, ICM 2019

Y2 - 18 March 2019 through 20 March 2019

ER -

A real-time nonlinear MPC for extreme lateral stabilization of passenger vehicles

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Keywords

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