MORE | Fall 2022

Design and Implementation of Non-Overshooting MPC with Terminal Cost/Constraints for Vehicle Lateral Stability Control

An effective method to guarantee vehicle safety is to design a vehicle driving safety algorithm that limits its states within a predefined stability region without passing the boundaries. A non-overshooting model of predictive control is implemented to achieve that. The stability and feasibility are further ensured by the addition of terminal cost and terminal constraints. The system output responses are studied with the presence of non-overshooting constraints and terminal cost/terminal constraints in a spring mass damper system. It is then extended to the vehicle lateral model to limit the vehicle states within a stability region through MATLAB/Simulink and CarSim®.