TY  - JOUR
PY  - 2023//
TI  - Vehicle stability control through pre-emptive braking
JO  - International journal of automotive technology
A1  - Guastadisegni, Giuseppe
A1  - So, Kai Man
A1  - Parra, Alberto
A1  - Tavernini, Davide
A1  - Montanaro, Umberto
A1  - Gruber, Patrick
A1  - Soria, Leonardo
A1  - Mantriota, Giacomo
A1  - Sorniotti, Aldo
SP  - 347
EP  - 365
VL  - 24
IS  - 2
N2  - Next-generation accurate vehicle localization and connectivity technologies will enable significant improvements in vehicle dynamics control. This study proposes a novel control function, referred to as pre-emptive braking, which imposes a braking action if the current vehicle speed is deemed safety-critical with respect to the curvature of the expected path ahead. Differently from the implementations in the literature, the pre-emptive braking input is designed to: a) enhance the safety of the transient vehicle response without compromising the capability of reaching the cornering limit, which is a significant limitation of the algorithms proposed so far; and b) allow -- in its most advanced implementation -- to precisely constrain the sideslip angle to set levels only through the pre-emptive control of the longitudinal vehicle dynamics, without the application of any direct yaw moment, typical of conventional stability control systems. To this purpose, a real-time-capable nonlinear model predictive control (NMPC) formulation based on a double track vehicle prediction model is presented, and implemented in its implicit form, which is applicable to both human-driven and automated vehicles, and acts as an additional safety function to compensate for human or virtual driver errors in extreme conditions. Its performance is compared with that of: i) two simpler -- yet innovative with respect to the state-of-the-art -- pre-emptive braking controllers, namely an NMPC implementation based on a dynamic point mass vehicle model, and a pre-emptive rule-based controller; and ii) a benchmarking non-pre-emptive rule-based trail braking controller. The benefits of pre-emptive braking are evaluated through vehicle dynamics simulations with an experimentally validated vehicle model, as well as a proof-of-concept implementation on an automated electric vehicle prototype.<p />  <p>Language: en</p>
LA  - en
SN  - 1229-9138
UR  - http://dx.doi.org/10.1007/s12239-023-0029-2
ID  - ref1
ER  -