本研究首先確立前輪轉向角與偏航轉矩對於縮小型車輛平台動態響應正確性，然後透過適應性模型預估控制法(adaptive model predictive control, AMPC)設計直接偏航轉矩控制(Direct Yaw-moment Control, DYC)，並且加入控制模式切換，使得偏航轉矩在適當時機施加以完成翻覆預防。
在完成電腦模擬後，透過縮小型車輛平台進行實驗，透過STI控制前輪轉向角以達成雙車道變換之任務，以評估加入DYC抑制翻覆的效果。實驗結果顯示本研究所設計的DYC在車輛進行激烈的車道變換時，仍然輸出合適的偏航轉矩以有效的抑制翻覆動作，亦即達到翻覆預防的效果。

In this research the model of a scaled bus is established by verifying the model parameters and inherent nonlinearity. An adaptive model predictive control framework is utilized to design the direct yaw moment control for vehicle rollover prevention. An activation criteria is investigated to determine the control action. The computer simulations indicate that the proposed controller can reduce the roll angle of the vehicle via the moment control and the activation criteria can prevent the controller from constant braking that might disturb the drivers. The scaled vehicle experiments show that the developed controller can reduce the roll angle in the designated timing.

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