차량 안전성 향상을 위한 모델 예측 제어 기반 4륜 조향 알고리즘

Abstract

This paper presents four wheel steering control scheme to enhance vehicle lateral stability. In 4WS system, it must be considered that large angle of rear wheel makes vehicle unstable. For this purpose, available input range is configured and Model Predictive Control (MPC) approach is used to reduce body slip angle and track desired yaw rate by satisfying this constraints. Extended Kalman Filter (EKF) is used in order to estimate body slip angle. Proposed algorithm was evaluated by MATLAB/Simulink and simulation results show vehicle stability enhancement when doing double lane change in high speed and driving road course in low speed.