Improvement of Vehicle Dynamics using Model-based Predictive Control

The proposed control provides more longitudinal motion control compared to conventional Vehicle Stability Control (VSC) design consisting of only lateral and yaw motion control. This vehicle motion control is achieved using the model-based hierarchical control, consisting of three layers: (1) vehicle motion control as the upper layer, (2) an intermediate layer for the brake torque distribution using Model Predictive Control (MPC) and (3) a lower layer for the wheel slip control at each wheel. Performance evaluation is conducted using an open-loop brake-in-turn maneuver and vehicle responses are compared to those of the pure braking control using a simply designed ABS to maximize braking force by tracking pre-defined peak slip ratio.