Design of Vehicle Speed Tracking Controller Based on The UniTire Model

Abstract

In this paper, the characteristics of different roads and speeds can be expressed uniformly by using the Unitire model, and a speed tracking controller which can adapt to many kinds of roads and different speeds is established. The longitudinal force of the vehicle at the current moment is obtained from the tire model, the vehicle speed is serve as the input of the MPC controller; the optimization function takes the reference speed as the target, constrains the acceleration and the change of acceleration, and obtains the expected acceleration; the expected acceleration is taken as the input of the lower controller, and through the automobile inverse dynamic model, it is transformed into the control of engine throttle opening and brake master cylinder pressure. The simulation effects exhibit that the controller has well applicability on diverse roads and speeds, and maintains the speed tracking accuracy without losing the stability of the vehicle.