Research on Methods of Active Steering Control Based on Receding Horizon Control

Jiwei Feng, Chunjiang Bao, Jian Wu, Shuo Cheng, Guangfei Xu and Shifu Liu
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Jiwei Feng: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Chunjiang Bao: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Jian Wu: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Shuo Cheng: State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
Guangfei Xu: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China
Shifu Liu: School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng 252000, China

Energies, 2018, vol. 11, issue 9, 1-15

Abstract: Active steering technology is a key technology for automatic driving vehicles to achieve route tracking and obstacle avoidance and risk avoidance, and its performance will affect the stability control of the vehicle. For solving the stability control issues of vehicles, which have uncertainty in model and robustness in system, this paper proposes an active steering control method based on the receding horizon control model. It calculates the optimal control law by this method by using the real-time vehicle state so that it can compensate for the uncertainty caused by model mismatch, interference, etc. The design of the controller is implemented by using the yaw rate deviation of the vehicle as the input of the receding horizon linear quadratic controller model and then inputting the calculated superposition angle into the vehicle model in real time. We built a Simulink control model to implement co-simulation with CarSim to verify the control effect of the controller. In addition, we built a steering hardware-in-the-loop platform based on the LabVIEW RT system. The experimental results show that the active steering system adopting a receding horizon control method had better system robustness and robust stability.

Keywords: vehicle dynamics; receding horizon control; vehicle stability control; hardware-in-loop (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2018
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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