한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제24권6호
  • /
  • Pages.730-736
  • /
  • 2016
  • /
  • 1225-6382(pISSN)
  • /
  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
권호 표지
DOI QR코드

DOI QR Code

비선형 타이어모델 기반 MPC를 이용한 차량 안정화

Vehicle Stabilization Using MPC Based on Nonlinear Tire Model

  • 송유호 (한양대학교 미래자동차공학과) ;
  • 김한수 (한양대학교 미래자동차공학과) ;
  • 김승기 (한양대학교 미래자동차공학과) ;
  • 김영우 (아주자동차대학) ;
  • 이태희 (한양대학교 미래자동차공학과) ;
  • 허건수 (한양대학교 미래자동차공학과)
  • Song, Yuho (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Hansu (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Seungki (Department of Automotive Engineering, Hanyang University) ;
  • Kim, Youngwoo (Ajou Motor College) ;
  • Lee, Tae Hee (Department of Automotive Engineering, Hanyang University) ;
  • Huh, Kunsoo (Department of Automotive Engineering, Hanyang University)
  • 투고 : 2016.09.28
  • 심사 : 2016.10.25
  • 발행 : 2016.11.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

Recent research suggests the various applications of Model Predictive Control on vehicle systems. In numerous cases, nonlinear tire models such as the Magic Formula, which are highly complex and are more detailed than necessary, are used. This paper presents a nonlinear tire model that excludes the region of negative slope but expresses the nonlinear properties of tire well enough for tracking the lane of a racing course. The proposed inverse tire model can also be used to calculate the slip angle from the tire force. Thus, the model can be utilized to design the Model Predictive Controller.

키워드

참고문헌

  1. H. K. Kang, D. H. Lee and K. S. Huh, "Development of Lane Change System considering Acceleration for Collision Avoidance," Transactions of KSAE, Vol.21, No.2, pp.81-86, 2013.
  2. J. Y. Hwang, K. S. Huh, H. M. Na, H. G. Jung, H. J. Kang and P. J. Yoon, "Development of a Model Based Predictive Controller for Lane Keeping Assistance System," Transactions of KSAE, Vol.17, No.3, pp.54-61, 2009.
  3. A. Carvalho, Y. Gao, S. Lefevre and F. Borrelli "Stochastic Pedictive Control of Autonomous Vehicles in Uncertain Environments," AVEC Conference, 2014.
  4. H. S. Kim, Y. H. Song, T. H. Lee and K. S. Huh, "Kriging Surrogate Model Based MPC Parameter Optimization in Half-car Model Active Suspension," KSME Conference, pp.267-268, 2016.
  5. J. Ahmadi, A. K. Sedigh and M. Kabganian, "Adaptive Vehicle Lateral-plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration," IEEE Transactions on Vehicular Technology, Vol.58, No.8, pp.4098-4107, 2009. https://doi.org/10.1109/TVT.2009.2023660
  6. J. E. Bernard and C. L. Clover, "Tire Modeling for Low-speed and High-speed Calculations," SAE 950311, 1995.
  7. C. E. Beal, Applications of Model Predictive Control to Vehicle Dynamics for Active Safety and Stability, Ph. D. Dissertation, Stanford University, California, 2011.
  8. B. R. Kang, W. K. Cho and C. S. Ahn, "Nonlinear Tire Inverse Model for Integrated Chassis Control System," ICCAS, pp.2026-2030, 2015.