This study presents a nonlinear model predictive control (NMPC) formulation for preview-based traction control, which uses the information on the expected tire-road friction coefficient ahead to enhance the wheel slip control performance, in the context of connected vehicles with V2X features. Proof-of-concept experiments on an electric vehicle prototype highlight the real-time capability of the controller, and the wheel slip control performance improvement brought by the tire-road friction coefficient preview. Finally, an experimentally validated simulation model is used in sensitivity analyses, to evaluate the performance benefit of the preview-based controller for different dynamic characteristics (e.g., time constant and pure time delays) of the electric powertrains.
@article{arxiv.2406.02206,
title = {Nonlinear Model Predictive Control for Preview-Based Traction Control},
author = {Gaetano Tavolo and Kai Man So and Davide Tavernini and Pietro Perlo and Aldo Sorniotti},
journal= {arXiv preprint arXiv:2406.02206},
year = {2024}
}
Comments
6 pages, 7 figures, Published in the 15th International Symposium on Advanced Vehicle Control (AVEC'22), Kanagawa, Japan, 2022