MPC Based Integrated Chassis Control to Enhance Vehicle Handling Considering Roll Stability

An integrated vehicle chassis control system was developed to improve vehicle handling (yaw) responses while maintain vehicle roll stability using an 8 DOF vehicle model, a simplified tire model, and a model predictive control method. The proposed control system incorporates active wheel torque distribution, active front steering, and active anti-rollbar to enhance vehicle handling and its ability to track the desired trajectory when the risk of vehicle rollover is low. As vehicle rollover risks increase, the proposed control system shifts its control focus from only handling enhancement to vehicle roll stabilization by adjusting the gains in the controller. The simulation results show that the proposed control system can improve vehicle handling responses while ensuring vehicle roll stability at high speed vehicle maneuvers.