Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle with rollover-prevention
by Karthik Poovendran; Theunis R. Botha; P. Schalk Els
International Journal of Vehicle Systems Modelling and Testing (IJVSMT), Vol. 17, No. 3/4, 2023

Abstract: Torque vectoring is used on vehicles to improve stability and improve vehicle directional control. These systems are developed on sports vehicles and implemented on sport utility vehicles with a high centre of gravity. This may result in an increase in roll propensity of the vehicles. This paper develops and experimentally evaluates a model predictive control (MPC) based torque vectoring system with yaw rate and slip-angle control while incorporating a rollover limit based on the zero moment point rollover index. The developed MPC is compared to a baseline linear quadratic regulator (LQR) based yaw rate controller in simulation. The final controller is evaluated experimentally with a sport utility vehicle. The proposed controller was found to improve vehicle handling while reducing rollover propensity.

Online publication date: Wed, 13-Dec-2023

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