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MPC based Rear Wheel Torque Vectoring Near the Limits of Handling Efstathios Siampis Dr Efstathios Velenis, Dr Stefano Longo Cranfield University UKACC.

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Presentation on theme: "MPC based Rear Wheel Torque Vectoring Near the Limits of Handling Efstathios Siampis Dr Efstathios Velenis, Dr Stefano Longo Cranfield University UKACC."— Presentation transcript:

1 MPC based Rear Wheel Torque Vectoring Near the Limits of Handling Efstathios Siampis Dr Efstathios Velenis, Dr Stefano Longo Cranfield University UKACC PhD Presentation Showcase

2 Slide 2 Introduction  Velocity regulation becomes important in terminal understeer cases  Design an active safety system that:  Stabilizes the vehicle using combined velocity, yaw and sideslip control  Accounts for the important in limit handling conditions system constraints

3 UKACC PhD Presentation Showcase Slide 3 Approach to Problem Rear wheel torques - MPCs Driver Intention RWD Vehicle Driver inputs (using the steering, throttle, and brake pedal) Velocity, sideslip angle and yaw rate +

4 UKACC PhD Presentation Showcase Slide 4 Approach to Problem: Target Generation - MPCs Driver Intention RWD Vehicle +

5 UKACC PhD Presentation Showcase Slide 5 Approach to Problem: Controller Design - MPCs Driver Intention RWD Vehicle +  For the MPC, we linearize the nonlinear four-wheel vehicle model and use the rear wheel slip as inputs  Constraints are set on yaw rate and sideslip angle, but also on the rear wheels’ slip ratios and torques  Then a sliding mode controller calculates the necessary torques on the rear wheels MPCSMC Rear wheel slip ratios Rear wheel torques

6 UKACC PhD Presentation Showcase Slide 6 Simulations: U-turn scenario Uncontrolled LQR MPCs

7 UKACC PhD Presentation Showcase Slide 7 Simulations: Double-lane Change Scenario Uncontrolled LQR MPCs

8 UKACC PhD Presentation Showcase Slide 8 Conclusions and Future Work  Conclusions  Lateral control only not enough for terminal understeer mitigation  Accounting for the system constraints can prevent instability  Future Work  Exploration of different vehicle topologies  Controller testing in the HIL facility of the Automotive Department


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