Model Predictive Control for Integrated Lateral Stability

TL;DR

This paper presents a novel Model Predictive Control approach for electric vehicle lateral stability, traction, braking, and rollover prevention, optimized for high-speed racing scenarios with promising simulation results.

Contribution

The paper introduces a new MPC design that integrates rollover prevention and linearized tire models for high-speed electric vehicle stability control.

Findings

Low solver time of 50 Hz in simulation

Lateral error of 30 cm at 45 m/s

Effective control under racing conditions

Abstract

This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first identify the advantages of a state-of-the-art dynamic model in that it includes rollover prevention into the MPC (a total of 8 states) and also linearizes the tire model prior to solving the MPC problem to save computation time. Then the design of a novel model predictive controller for lateral stability control is proposed aimed for achieving stable control at top speed significantly greater than typical highway speed limits. We have tested the new solution in simulation environments associated with the Indy Autonomous Challenge, where its real-world racing conditions include significant road banking angles, lateral position tracking, and a different suspension model of its Dallara Indy Lights chassis. The results are very promising with a low solver time in Python, as low as 50 Hz, and a lateral error of 30 cm at speeds of 45 m/s. Our open source code is available at: https: //github.com/jadyahya/Roll-Yaw-and-Lateral-Velocity-MPC/.