Yaw stability regulation of electric vehicles based on model predictive control

Abstract

The yaw stability control system contributes significantly to the vehicle's lateral dynamics in order to enhance the vehicle's handling and stability. Controlling the lateral stability of a vehicle requires maintaining the proper yaw rate and side slip angle. For this purpose, a Model Predictive Control-based electric vehicle is built along with a stability control system. With a 2DOF vehicle model and a single track, the desired yaw rate is obtained. The controller is created using the Model Predictive Control (MPC) method. This controller modifies the steering angles of the front wheels and generates the necessary control moment for stabilizing the vehicle's yaw path. The stability control system and the developed controller are evaluated using a nonlinear single-track vehicle model, and the simulation results demonstrate improved vehicle performance and a good yaw rate compared to the vehicle's state without the controller.