Abstract:

Proposed an active front steering (AFS) control method based on a model predictive control (MPC) to keep vehicle stability when a vehicle brakes urgently on a split-μ road. Built a 7- dimension of freedoms (DOF) vehicle dynamic model and a tire model by using Magic Formula to design an AFS controller based on the
MPC using a control model formulated with making a co-simulations of the soft wares of Simulink and Carsim. Moreover, the simulation results compared between deferent control-methods for vehicle brakes urgently on a split-μ road. The results show that lateral excursion with the AFS control is 0.49 m, while the lateral excursion without the AFS control is 1.64 m at the condition with no changes to the original antilock brake system (ABS) control. Therefore, the proposed method can restrain the vehicle off tracking to keep the vehicle stability when braking on split-μ road.

Key words: automobile safety, stability control, active front steering (AFS), model predictive control (MPC), antilock brake system (ABS), split-&mu, road