Title: Motion control of autonomous vehicles after a tyre blow-out based on differential-flatness-MPC

Authors: Yuhai Wang; Yanhui Xing; Yanfeng Cong

Addresses: State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130025, China ' State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, Jilin, 130025, China ' Qingdao Automotive Research Institute of Jilin University, Qingdao, Shandong, 266000, China

Abstract: This paper presents a vehicle safety evaluation index after a tyre blow-out event. By applying safety indicators, the movement characteristics of the vehicle are analysed according to different driving operation strategies, and then give the driving operation strategy for the vehicle after a tyre blow-out. In addition, through the analysis of the performance of the flat tyre wheel, the vehicle dynamics model with a flat tyre is presented. According to the operation strategy of the flat tyre, the model predictive control (MPC) method based on differential flatness is used to investigate the motion control problem of vehicles with flat tyres when driving on motorway. The simulation results show that the method can control well the movement behaviour of the vehicle with a flat tyre.

Keywords: MPC; model predictive control; differential-flatness; tyre blow-out; motion control; autonomous vehicle; Simulink.

DOI: 10.1504/IJVD.2024.137292

International Journal of Vehicle Design, 2024 Vol.94 No.3/4, pp.252 - 273

Received: 26 Nov 2021
Received in revised form: 05 Mar 2023
Accepted: 28 Mar 2023
Published online: 11 Mar 2024 *

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