Predictive Electronic Stability Control: Validation With Real‐Time Simulations

ABSTRACT

The real‐time evaluation of advanced driver assistance systems (ADAS) is a crucial area of research because it verifies whether an embedded system can operate properly within specified time constraints while ensuring safety and stability. Here, a yaw stability control via differential braking is developed, which incorporates model predictive control (MPC) based on a linearized four‐wheel vehicle model. The performance was evaluated with hardware‐in‐the‐loop experiments using the CarSim software package deployed on a real‐time computer. The MPC controller was embedded in a microcontroller and communicated with the compiled CarSim application using a controller area network (CAN) bus with a customized DataBase container (DBC) file. We validated the scheme using the sine with dwell test, which is a standard maneuver employed by the industry to certify ESC systems. The results show the effectiveness of the MPC in maintaining the stability of the vehicle under rigorous testing.