  This paper studies the design of a Model Predictive Controller (MPC) for
integrated lateral stability, traction/braking control, and rollover prevention
of electric vehicles intended for very high speed (VHS) racing applications. We
first identify the advantages of a state-of-the-art dynamic model in that it
includes rollover prevention into the MPC (a total of 8 states) and also
linearizes the tire model prior to solving the MPC problem to save computation
time. Then the design of a novel model predictive controller for lateral
stability control is proposed aimed for achieving stable control at top speed
significantly greater than typical highway speed limits. We have tested the new
solution in simulation environments associated with the Indy Autonomous
Challenge, where its real-world racing conditions include significant road
banking angles, lateral position tracking, and a different suspension model of
its Dallara Indy Lights chassis. The results are very promising with a low
solver time in Python, as low as 50 Hz, and a lateral error of 30 cm at speeds
of 45 m/s. Our open source code is available at: https:
//github.com/jadyahya/Roll-Yaw-and-Lateral-Velocity-MPC/.
