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2020 | OriginalPaper | Chapter

Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering

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Authors: Mathias Metzler, Alessandro Scamarcio, Patrick Gruber, Aldo Sorniotti

Publisher: Springer International Publishing

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

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Abstract

This paper presents a traction controller for combined driving and cornering conditions, based on explicit nonlinear model predictive control. The prediction model includes a nonlinear tire force model using a simplified version of the Pacejka Magic Formula, incorporating the effect of combined longitudinal and lateral slips. Simulations of a front-wheel-drive electric vehicle with multiple motors highlight the benefits of the proposed formulation with respect to a controller with a tire model for pure longitudinal slip. Objective performance indicators provide a performance assessment in traction control scenarios.

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Satzger, C., de Castro, R.: Combined wheel-slip and torque blending using MPC. In: 2014 International Conference on Connected Vehicles and Expo (ICCVE), pp. 618–624. IEEE, Vienna (2014)

Tavernini, D., Metzler, M., Gruber, P., Sorniotti, A.: Explicit nonlinear model predictive control for electric vehicle traction control. IEEE Trans. Control Syst. Technol. 27(4), 1438–1451 (2019) CrossRef

Bächle, T., Graichen, K., Buchholz, M., Dietmayer, K.: Slip-constrained model predictive control allocation for an all-wheel driven electric vehicle. IFAC Proc. Vol. 47(3), 12042–12047 (2014). 19th IFAC World Congress

Metzler, M., Tavernini, D., Sorniotti, A., Gruber, P.: Explicit nonlinear model predictive control for vehicle stability control. In: 9th International Munich Chassis Symposium 2018, pp. 733–752. Springer Vieweg, Wiesbaden (2018)

Giangiulio, E., Arosio, D.: New validated tire model to be used for ABS and VDC simulations. In: 3rd International Colloquium on Vehicle-Tire-Road Interaction, pp. 1–17 (2016)

Title

Real-Time Capable Nonlinear Model Predictive Wheel Slip Control for Combined Driving and Cornering

Book

Advances in Dynamics of Vehicles on Roads and Tracks

Print ISBN: 978-3-030-38076-2

Electronic ISBN: 978-3-030-38077-9

https://doi.org/10.1007/978-3-030-38077-9

DOI

https://doi.org/10.1007/978-3-030-38077-9_168

Authors:

Mathias Metzler
Alessandro Scamarcio
Patrick Gruber
Aldo Sorniotti

Publisher