A New LTV-MPC Method for Enhancing the Stability of AFS Vehicles

This paper proposes a new LTVMPC method for AFS vehicles to enhance the vehicle stability and improve the control performance of traditional LTVMPC when tire force is near saturation. A prediction of tire force is performed in the prediction horizon on the basis of the nonlinear tire model. The control problem is solved by the quadratic programming. Finally, the proposed method is verified based on the CarSim and Matlab simulation environment. Simulation results show that the control performance of the proposed method is obviously improved compared with the traditional method.