A coupled force predictive control of vehicle stability using front/rear torque allocation with experimental verification

Abstract

This paper investigates the handling control and stability of an all-wheel-drive vehicle whose axles are individually equipped with an electric motor connected to an open differential. This could offer a potential configuration for the mass production of electric all-wheel-drive vehicles because of reduced cost and complexity. Although there is no torque vectoring or direct yaw moment control in this configuration, considerable handling improvement can be achieved by optimised front/rear torque distribution due to the longitudinal and lateral tire force coupling. In this study, a model predictive control design is presented with a coupled force prediction model for vehicle handling dynamics. The controller optimises the front/rear torque allocation to track the desired handling response and ensure vehicle stability. This study also compensates for actuator delay by incorporating the actuator dynamics into the control design. The performance of the proposed controller is evaluated through software simulations and experimental tests conducted on an electric all-wheel-drive Chevrolet Equinox.

Keywords:

• Vehicle handling performance
• stability control
• front/rear torque distribution
• tire force coupling
• model predictive controller
• actuator dynamics

Acknowledgements

The authors would like to acknowledge the financial support of the Ontario Research Fund (ORF), Natural Sciences and Engineering Research Council of Canada (NSERC), and also the financial and technical support of General Motors.

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

The authors would like to acknowledge the financial support of the Ontario Research Fund (funding #: ORF-RE-08-080), Natural Sciences and Engineering Research Council of Canada (funding #: IRCPJ 507696 - 16), and also the financial and technical support of General Motors.