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Articulated Vehicle Stability Control Using Brake-Based Torque Vectoring on Trailer Using Nonlinear Model Predictive Control

Journal Article
02-16-01-0007
ISSN: 1946-391X, e-ISSN: 1946-3928
Published October 17, 2022 by SAE International in United States
Articulated Vehicle Stability Control Using Brake-Based Torque
                    Vectoring on Trailer Using Nonlinear Model Predictive Control
Citation: Catterick, J., Botha, T., and Els, S., "Articulated Vehicle Stability Control Using Brake-Based Torque Vectoring on Trailer Using Nonlinear Model Predictive Control," SAE Int. J. Commer. Veh. 16(1):111-126, 2023, https://doi.org/10.4271/02-16-01-0007.
Language: English

Abstract:

Unstable articulated vehicles pose a serious threat to the occupants driving them as well as the occupants of the vehicles around them. Articulated vehicles typically experience three types of instability: snaking, jack-knifing, and rollover. An articulated vehicle subjected to any of these instabilities can result in major accidents. In this study a Nonlinear Model Predictive Control (NMPC) that applies brake-based torque vectoring on the trailer is developed to improve the articulated vehicle stability. The NMPC formulation includes tire saturation and applies constraints to prevent rollover. The controller output is a left and right brake force allowing the longitudinal velocity change to be incorporated into the model. Simulations were conducted to instigate snaking and jack-knifing and show the NMPC controller result compared to a simple proportional controller. The NMPC controller can prevent these instabilities and improves the overall handling and safety of the articulated vehicle.