Model Predictive Control for Heavy-Duty Commercial Vehicles Considering Response Delay of Air-Brake

摘要

Heavy-duty commercial vehicles have some different characteristics compared to passenger cars. This paper deals with the propagation delay of the brake pressure by air. This characteristic is directly related to the influence on the braking performance of the vehicle. Therefore, it is necessary to reflect it appropriately in the control model. In this paper, we propose a control method that improves both vehicle stability and lane following performance while considering the propagation delay of braking pressure.