Model predictive control based vehicle stability control via active front steering

This paper present a MPC based yaw rate control frame for active front steering vehicle. Firstly, by establishing the yaw rate ideal model, the reference value of the yaw rate of the vehicle is obtained. And the reference yaw rate is constrained by tyre-road friction coefficient and vehicle speed. Then the MPC controller is designed by minimizing the rate of change of the control action and deviation of yaw rate, the steering system constraint is also taken into account. And the optimization problem is solved by quadratic programming (QP) Method. Finally, the Carsim simulation software is used to verify the result, to verify the effectiveness of the proposed controller in different situations.