Research on stability of high-speed autonomous vehicles based on linear time-varying model predictive control
by Xiaoming Liu; Fei Liu; Jingbo Guo
International Journal of Vehicle Design (IJVD), Vol. 91, No. 4, 2023

Abstract: A stability control method for high-speed autonomous vehicles based on linear time-varying model predictive control (LTV-MPC) considering the impact of road environment is proposed. To ensure the accuracy of the prediction model and the driving stability of the vehicle, a yaw dynamics model is established considering the road curvature, lateral position deviation and tyre slip rate. In order to reduce the influence of the road environment on path following effect, the reference road is segmented by Bézier curve and the road curvature was extracted in real time. Through the analysis of the stable driving state of high-speed vehicles, the yaw stability envelope and the feasible road area envelope are established to ensure the handling stability and driving safety of vehicles.

Online publication date: Thu, 01-Jun-2023

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Design (IJVD):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com