Model-Based Vehicle Dynamics Control for Active Safety

The functionality of modern automotive vehicles is becoming increasingly dependent on control systems. Active safety is an area in which control systems play a pivotal role. Currently, rule-based control algorithms are widespread throughout the automotive industry. In order to improve performance and reduce development time, model-based methods may be employed. The primary contribution of this thesis is the development of a vehicle dynamics controller for rollover mitigation. A central part of this work has been the investigation of control allocation methods, which are used to transform high-level controller commands to actuator inputs in the presence of numerous constraints. Quadratic programming is used to solve a static optimization problem in each sample. An investigation of the numerical methods used to solve such problems was carried out, leading to the development of a modified active set algorithm.Vehicle dynamics control systems typically require input from a number of supporting systems, including observers and estimation algorithms. A key parameter for virtually all VDC systems is the friction coefficient. Model-based friction estimation based on the physically-derived brush model is investigated.

Grantor dc:publisher

Department of Automatic Control, Lund Institute of Technology, Lund University

Year dc:date

2008

Author dc:creator

• Schofield, Brad

• Control Engineering
• Control Allocation
• Vehicle Dynamics Control
• Friction Estimation
• Model-Based Control Design

Statement dc:rights

• info:eu-repo/semantics/openAccess

Language dc:language

eng

Repository record dc:identifier

https://lup.lub.lu.se/record/1219680

OAI identifier oai:identifier

oai:lup.lub.lu.se:3349cd27-9ed8-483e-8d17-2d0b25f03b1c