Enhancing the yaw stability and the manoeuvrability of a heavy vehicle in difficult scenarios by an emergency threat avoidance manoeuvre

Abstract

This study aims to investigate the switching model predictive control strategy for a heavy-vehicle system in order to coordinate the actuator between active rear steering and differential braking control manoeuvres for emergency threat avoidance in difficult environments. We present the controller performances for the lateral dynamic behaviour, the yaw stability and the manoeuvrability of a vehicle when subjected to a sudden threat or disturbance such as a gust of wind, a road bank angle or a split-μ road surface in order to enable a fast safe lane-change trajectory to be followed. The vehicle was driven at a medium forward speed and a high forward speed in order to investigate the effectiveness of the proposed approach in avoiding the threat, maintaining the stability and enablinge a fast safe lane-change trajectory to be followed. We compared two different controllers (a model predictive controller and a switching model predictive controller) for two different control manoeuvres (active rear steering with differential braking control and active rear steering with direct yaw moment control). The simulation results demonstrate that the proposed switching model predictive control method provides an improved fast safe lane-change manoeuvre in a threat avoidance scenario for both control manoeuvres. It also demonstrated that the proposed active rear steering with differential braking control is more useful for maintaining the stability of the vehicle in a threat avoidance scenario with disturbance effects than is active rear steering with direct yaw moment control.