Model Predictive Control for Vehicle Stabilization at the Limits of Handling

By Craig Earl Beal, J. Christian Gerdes. IEEE Transactions on Control Systems Technology, 2013

415 citations recorded by the source corpus.

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Collision Avoidance and Stabilization for Autonomous Vehicles in Emergency Scenarios (2017, methodology): “This controller uses the envelope suggested by Beal and Gerdes [21], which bounds the vehicle’s velocity states Uy and r by the maximum steady-state force generation of the tires.”
Safe driving envelopes for path tracking in autonomous vehicles (2017, methodology): “This region is known as the stable handling envelope, originally presented by Beal and Gerdes [11].”
Shared Steering Control Using Safe Envelopes for Obstacle Avoidance and Vehicle Stability (2016, background): “…− C̄ᾱrmUx bC̄ᾱr mUx2 − 1 0 0 0 bC̄ᾱr Izz − b 2C̄ᾱr IzzUx 0 0 0 0 1 0 0 0 0 0 0 0 0 Ux 0 Ux 0 0 ⎤ ⎥⎥⎥⎥⎥⎦ Bc = [ 1 mUx a Izz 0 0 0 ]T dc(ᾱr) = [ F̄yr+ᾱrC̄ᾱr mUx − b(F̄yr+ᾱrC̄ᾱr)Izz 0 Ux 0 ]T where subscript c denotes a continuous time model and (ᾱr) indicates linearization around ᾱr.”
Research Advances and Challenges of Autonomous and Connected Ground Vehicles (2019, methodology): “[442] combines an MPC with the linear vehicle and tire dynamic model to stabilize the vehicle at the limits of handling.”
Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing (2022, methodology): “[16] use estimations of the friction coefficient and vehicle sideslip to define state constraint and unstable vehicle behaviors.”