| VEHICLE STABILITY CONTROL THROUGH PRE-EMPTIVE BRAKING |
| Giuseppe Guastadisegni 1, Kai Man So 1, Alberto Parra 2, Davide Tavernini 1, Umberto Montanaro 1, Patrick Gruber 1, Leonardo Soria 3, Giacomo Mantriota 3, Aldo Sorniotti 1 |
1Centre of Automotive Engineering, School of Mechanical Engineering Sciences
2Tecnalia Research and Innovation, Basqua Research and Technology Alliance
3Department of Mechanical Engineering, Mathematics and Management |
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| ABSTRACT |
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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. |
| Key Words:
Nonlinear model predictive control, Stability control, Pre-emptive control, Braking, Sideslip angle
constraint, Reference curvature |
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Corresponding Author.
Aldo Sorniotti , Email. 
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