Integrated chassis control for optimized tyre force coordination to enhance the limit handling performance

This paper proposes a coordinated control algorithm of the differential braking, the front and rear traction torques and the active roll moment to enhance the limit-handling performance. The coordinated algorithm is designed to maximize the driving velocity while keeping the vehicle in a lane. First, the analysis of the cornering dynamics is described to consider the non-linear characteristics of the tyres during acceleration or deceleration. The target vehicle motions are determined on the basis of the driver’s intention and the current states of the vehicle. An optimization-based control allocation strategy is utilized to distribute the actuator control inputs optimally by considering the tyre and vehicle limitations. Closed-loop simulations of a driver–vehicle–controller system were conducted to investigate the performance of the proposed control algorithm. The performance of the coordinated algorithm was compared with those of the individual coordination algorithms. The simulation results show that the proposed integrated chassis controller improves the performance in high-speed cornering with respect to the driving speed without losing stability compared with simple coordination chassis control systems.