Effects of roll dynamics for car stability control by laguerre functions

Abstract

In this paper, we introduce and present the Laguerre functions in model predictive control approach for path following in car vehicle dynamics system. Start with the model predictive control based on linearizing vehicle and tire model where the most popular bicycle model is used. We compare the controller based on Laguerre functions for simple and complex bicycle model without and with including the roll vehicle dynamics. The roll dynamics will get influent in the high speed maneuver due to the load transfer effects. Based on simulation results, we perform the vehicle in high speed maneuvers for double lane change scenario. The result shows and presents that the predictive control based Laguerre functions give a better performance than conventional which is use Pulse operator function and fewer complexes in term of algorithm implementation. It also demonstrates that with the roll dynamics take into consideration, it significantly improves the vehicle stability and trajectory along the desired path.