Research On Predictive Electronic Stability Program Based On Model Predictive Control

The Electronic Stability Program(ESP)is an active safety technology that can effectively improve the vehicle's handling stability under extreme driving conditi o ns.By applying a specific amount of active braking torque to a specific wheel in a time l y moment,an additional yaw stable control torque is provided to the vehicle to stabil i z e the vehicle's driving;In recent years,with the rapid development of intelli ge n t technologies,intelli gent driving vehicles have become the current research hotspo t.Compared with traditional vehicles,driving input information of intelligent drivi ng vehicles can be transmitted to each active control system before execution,thereb y providing more abundant control time for active safety control.In this paper,based on intelligent driving technology,MPC(Model Predictive Control,hereinafter referred to as MPC)algorithm is used to design the path tracking program.In order to distri b ut e ESP braking force reasonably and efficiently,a yaw moment distribution contr o l algorithm based on four-wheels Tire Dynam ic Force Estimation(TDE)was design ed.On this basis,using the driving input signals generated by the path tracking progra m,a set of ESP control systems with predictive functions is obtained.In this paper,the dynamic formula of 14-degree-of-freedom nonlinear vehicle is deduced,and the vehicle simulation model is built in Matlab/Simulink based on the magic tire formula.In order to verify the accuracy of the vehicle model,the vehic l e dynamics analysis software Carsim was used to build the vehicle simulation mode l.The model was verified by simulation.Then,an intelligent driving control strategy algorithm is established.The MPC algorithm is selected as the path tracking control algorithm in this paper.The predic t io n model is established and the objective function and constraint conditions are optimi z ed.The path displacement tracking and yaw angle tracking are the control target s.Optimize the optimal front steering angle.The correctness of the MPC path tracking is verified by the double-lane-change test.To lay the theoretical foundation for the next chapter to extract the vehicle state at the future time of the vehicle and the predic t i ve of the vehicle instability based on the front steering angle.On this basis,the control structure of the predict ive ESP system is designe d.Compared with the traditional ESP system,the predictive ESP system considers the dynamic restraint optimization of the four-wheels braking forces and restricts the intervention of individual wheels under the active brakin g torque.The longi tudinal slip of its wheels does not exceed its specified upper limit of the optimal slip.When the braking force of a single wheel reaches saturation,the other wheel of the auxiliary side assists in providing additional yaw moments and improves the robustness of the contr o l and control limi ts.The predictive program of the vehicle based on the MPC algor i t h m is designed,and the control strategy of the ESP intervention in the stabilization contr o l is designed.Finally,the correctness of the predictive ESP system designed by the high-sp e ed double-lane-change test and the snake test is verified,and the stabilit y of the vehic l e' s operation and the path tracking are improved.