A Nonlinear Model Predictive Control Based Evasive Manoeuvre Assist Function

Abstract

This paper investigates and applies a Nonlinear Model Predictive Control (NMPC) method for an Evasive Manoeuvre Assist (EMA) function. Evasive manoeuvres typically involve limit handling situations, in which tyres operate within the nonlinear region. To take into account the nonlinearities, this paper focuses on solving the evasive manoeuvre problem from a nonlinear optimisation perspective. To solve the nonlinear optimisation problems that arise with an NMPC approach, two state-of-the-art nonlinear solving methods are compared in simulation tests: the Interior Point Method (IPM) and Sequential Quadratic Programming (SQP). Moreover, an SQP approach is implemented and tested in a rapid-prototyping test vehicle.