Path tracking and stability control of 4WID electric vehicles based on variable prediction horizon MPC
by Dongmei Wu; Qiang Zhang; Changqing Du; Yang Li
International Journal of Vehicle Design (IJVD), Vol. 95, No. 3/4, 2024

Abstract: This study presents a coordinated strategy for path-tracking based on variable prediction horizon model predictive control (VPH MPC) and stability control. First, the model predictive control (MPC) with different prediction horizons is utilised for the path-tracking controller. The effect of prediction horizons on path-tracking error and vehicle stability is analysed. On the above basis, an adaptive path-tracking controller is proposed, where the desired acceleration is restricted and the prediction horizon is regulated based on the vehicle stability. Then, a direct yaw moment control (DYC) method is integrated with the path-tracking controller to further improve the lateral stability and path-tracking capability. The coordinated control strategy is first validated through simulation and then the path-tracking controller with different prediction horizons is tested on a real vehicle. The simulation outcomes demonstrate that the path-tracking capability and stability can be improved significantly under extreme conditions. The real-vehicle experiments validate the effect of various prediction horizons on path-tracking capability.

Online publication date: Mon, 24-Jun-2024

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