Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model predictive control (NMPC) approach that integrates multiple actuation methods, namely four-wheel-steering, longitudinal tyre force distribution, and direct yaw moment control, to execute drifting when this is beneficial for PT in emergency scenarios. Simulation results of challenging manoeuvres, based on an experimentally validated vehicle model, highlight the substantial PT performance improvements brought by: i) vehicle operation outside the envelope enforced by the current generation of stability controllers; and ii) the integrated control of multiple actuators.
Nonlinear Model Predictive Control for Enhanced Path Tracking and Autonomous Drifting Through Direct Yaw Moment Control and Rear-Wheel-Steering
Lect.Notes Mechanical Engineering
Advanced Vehicle Control Symposium ; 2024 ; Milan, Italy September 01, 2024 - September 05, 2024
2024-10-04
8 pages
Article/Chapter (Book)
Electronic Resource
English
Integrated Control of Active Rear Wheel Steering and Direct Yaw Moment Control
Taylor & Francis Verlag | 1997
|Integrated control of active rear wheel steering and direct yaw moment control
Tema Archive | 1997
|Integrated control of active rear wheel steering and direct yaw moment control
Automotive engineering | 1997
|Integrated Control of Active Rear Wheel Steering and Direct Yaw Moment Control
Online Contents | 1997
|