Vehicle Stability Control Considering Longitudinal Disturbances of Wheel Dynamic Based on Linear Time-varying Model Predictive Control

To elevate the accuracy of autonomous vehicles stability control, this study puts forward a stability control method based on linear time-varying model predictive control (LTV-MPC) which considers longitudinal wheel dynamic disturbance. The method discretizes and linearizes the nonlinear vehicle dynamics control system considering the four-wheel dynamic disturbance as the prediction model; establishes the objective function with the increment as the state variables, introduces a relaxation factor to prevent no feasible solution; designs constraints on system control input and control increments and converts the objective function solution into a quadratic programming (QP) problem with constraints; uses the interior point method to solve and applies the first control input increment to system; repeats the above process to achieve optimized control. The simulation experiments of the sinusoidal maneuver with variable frequency and the double lane change (DLC) maneuver are put into practice respectively. The co-simulation shows that designed controller based on LTV-MPC can enable CarSim B-Class vehicle to achieve state tracking at high speed.