Open AccessMPC Based Semi-active Suspension Control for Overtaking Maneuvers
Author(s) -
Tamás Hegedűs,
Balázs Németh,
Péter Gáspár
Publication year - 2021
Publication title -
periodica polytechnica. transportation engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.388
H-Index - 15
eISSN - 1587-3811
pISSN - 0303-7800
DOI - 10.3311/pptr.18598
Subject(s) - overtaking , control theory (sociology) , model predictive control , trajectory , optimal control , suspension (topology) , process (computing) , engineering , minification , control (management) , computer science , control engineering , mathematical optimization , mathematics , civil engineering , physics , astronomy , artificial intelligence , homotopy , pure mathematics , programming language , operating system
In this paper, the lateral and vertical control design is presented for autonomous vehicles. The vertical control of the vehicle is based on a semi-active suspension system. In the first step, a decision-making process is made. Based on the results of this algorithm an optimal trajectory is planned. Since the trajectory is known, the lateral accelerations can be computed for the given control horizon. In the second step, the vertical control is achieved, which uses the results of the trajectory planning algorithms. The control design is made by a Model Predictive Control (MPC), in which the sign and the maximum value of the additional force can be taken into account. The main goal in the vertical control process is vehicle roll angle minimization. The results of the algorithm are validated using a high fidelity vehicle dynamics simulation software, CarMaker.