Research on Heavy Vehicle Rollover Stability Based on Fast Model Predictive Control

doi:10.12068/j.issn.1005-3026.2025.20240092

Abstract

Abstract:

In order to solve the problem that heavy vehicles are prone to rollover， an active safety control method based on fast model prediction was proposed. Firstly， a nonlinear dynamic model of the heavy vehicle was established， and the nonlinear system was transformed into a linear system by the T-S fuzzy method. A hierarchical control strategy was adopted， where the upper layer was designed to obtain the optimal yaw moment by the model predictive control （MPC） anti-rollover controller， and the lower layer utilized the unilateral wheel control method for the allocation of the braking force. Then， in order to reduce the computational burden of the controller， the Laguerre function was introduced to reconstruct the control input sequence， and the constraints were handled by the primal-dual interior point method to solve the quadratic programming function efficiently in real time. Finally， the co-simulation of MATLAB/Simulink and TruckSim was carried out under typical working conditions， and the results show that compared with the traditional MPC controller， the proposed fast MPC controller can effectively improve the computational efficiency while guaranteeing the performance and can avoid the vehicle rollover instability.

Key words: heavy vehicle, model predictive control, Laguerre function, primal-dual interior-point method, rollover stability

CLC Number:

U 463.6

Hong-wei WANG, Qing-qing ZHANG, Xun WANG. Research on Heavy Vehicle Rollover Stability Based on Fast Model Predictive Control[J]. Journal of Northeastern University(Natural Science), 2025, 46(11): 12-18.

Figures/Tables 10

Fig.1 Vehicle dynamics model

Fig.2 Rollover stability control block diagram

Table 1 Vehicle parameters

车辆参数	数值
$m / k g$	18 300
$m s / k g$	16 800
$h / m$	0.8
$a / m$	3.4
$b / m$	1.6
$I x /$ （kg·m²）	7 695.6
$I z /$ （kg·m²）	30 782.4
$B / m$	2.1
$c φ /$ （N·m·s·rad^-1）	487 050
$k φ /$ （kN·m·rad^-1）	4 000
$k f /$ （kN·rad^-1）	150
$k r /$ （kN·rad^-1）	350

Table 1 Vehicle parameters

车辆参数	数值
$m / k g$	18 300
$m s / k g$	16 800
$h / m$	0.8
$a / m$	3.4
$b / m$	1.6
$I x /$ （kg·m²）	7 695.6
$I z /$ （kg·m²）	30 782.4
$B / m$	2.1
$c φ /$ （N·m·s·rad^-1）	487 050
$k φ /$ （kN·m·rad^-1）	4 000
$k f /$ （kN·rad^-1）	150
$k r /$ （kN·rad^-1）	350

Fig.3 LTR index

Fig.4 Yaw velocity

Fig.5 Rollover angle

Fig.6 Steering input

Fig.7 LTR index（fishhook condition）

Fig.8 Yaw velocity（fishhook condition）

Fig.9 Rollover angle（fishhook condition）

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