Anti-rollover control of four-wheel independently actuated vehicle based on MPC algorithm

摘要

To solve the risk of rollover problem in some extreme working conditions of four-wheel independently actuated vehicle. This paper designs an anti-rollover controller through the model predictive control (MPC) algorithm to improve the vehicle’s anti-rollover stability. Firstly, we use UKF to design state observer for real-time observation of vehicle lateral speed, roll angle other states. These states will be used to vehicle state prediction and rollover index calculation. Secondly, to effectively improve the precision of the vehicle model and the stability of anti-rollover control system, we estimate the tire cornering stiffness in real-time. Threshold limit of the rollover index is added to the MPC controller and reduces the rollover index by controlling torque vectoring. Finally, the results of Simulink/Carsim simulation tests show that the proposed anti-rollover controller based on the MPC algorithm can effectively suppress the vehicle’s large roll motion and avoid the occurrence of vehicle rollover.