Integrated brake based torque vectoring control of vehicle yaw rate and side-slip angle with rollover-prevention

Torque vectoring is used on vehicles to improve stability and improve vehicle directional control. These systems are developed on sports vehicles and implemented on sport utility vehicles with a high centre of gravity. This may result in an increase in roll propensity of the vehicles. This paper develops and experimentally evaluates a model predictive control (MPC) based torque vectoring system with yaw rate and slip-angle control while incorporating a rollover limit based on the zero moment point rollover index. The developed MPC is compared to a baseline linear quadratic regulator (LQR) based yaw rate controller in simulation. The final controller is evaluated experimentally with a sport utility vehicle. The proposed controller was found to improve vehicle handling while reducing rollover propensity.

• Record URL:
  • https://doi.org/10.1504/IJVSMT.2023.135448
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/17456436
• Supplemental Notes:
  • Copyright © 2024 Inderscience Enterprises Ltd.
• Authors:
  • Poovendran, Karthik
  • Botha, Theunis R
  • Els, P Schalk
  • 0000-0001-6996-4527
• Publication Date: 2023

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 222-243
• Serial:
  • International Journal of Vehicle Systems Modelling and Testing
  • Volume: 17
  • Issue Number: 3-4
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1745-6436
  • EISSN: 1745-6444
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJVSMT

Subject/Index Terms

• TRT Terms: Dynamic stability; Rollover crashes; Sport utility vehicles; Torque; Traction control; Yaw
• Subject Areas: Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01906019
• Record Type: Publication
• Files: TRIS
• Created Date: Jan 26 2024 10:02AM