Experimental verification using a driving simulator of the effect of simultaneous optimal distribution of tyre forces for active vehicle handling control

Abstract

Both theoretical and experimental studies are carried out in order to prove the effect of the simultaneous optimum distribution of lateral and longitudinal tyre forces on enhancement of vehicle handling and stability assuming that all four wheels can be independently steered and driven/braked. A driving simulator is used as an experimental instrument to investigate the effect of the optimum tyre force distribution control. The inputs to the optimization process are the driver's commands (steering wheel angle and foot brake pressure/accelerator pedal pressure), while the outputs are lateral and longitudinal forces on all four wheels. Lateral and longitudinal tyre forces cannot be chosen arbitrarily, but must satisfy certain specified equality constraints. The equality constraints are related to the required total longitudinal force, total lateral force and total yaw moment to achieve a given vehicle motion. The total lateral force and total moment required are introduced using the model responses of side-slip angle and yaw rate to the driver's steering input, while the total longitudinal force is computed according to the driver's command (traction/braking). The results of either computer simulation or a driving simulator show that the influence of the proposed optimum tyre force distribution control on vehicle performance enhancement is significantly apparent. Furthermore, driving simulator results show very good agreement with the computer simulation results presented.

Keywords

vehicle dynamics non-linear tyre characteristics optimum control sliding control

Get full access to this article

View all access options for this article.

References

Roppenecker

Wallentowitz

Integration of chassis and traction control systems, what is possible, what makes sense, what is under develop-ment

Veh. System Dynamics, 1993, 22, 283–298.

Horiuchi

Okada

Nohtomi

Effects of integrated control of active four wheel steering and individual wheel torque on vehicle handling and stability—a comparison of alternative control strategies

Veh. System Dynamics Suppl., 1999, 33, 680–691.

Nagai

Shino

Gao

Study on integrated control of active front steer angle and direct yaw moment

JSAE Rev., 2002, 23 (3), 309–315.

Mokhiamar

Abe

Combined lateral force and direct yaw moment control to maximize stability as well as vehicle responsiveness during evasive maneuvering for active vehicle handling safety

Veh. System Dynamics Suppl., 2002, 37, 246–256.

Higuchi

Saito

Optimal control of four wheel steering vehicle. In Proceedings of AVEC'92, Yokohama, Japan, 1992, pp. 233–238.

Komatsu

Gordon

Best

4WS control of handling dynamics using a linear optimal reference model. In Proceedings of AVEC'00, Michigan, 2000, pp. 253–260.

Peng

Traction/braking force distribution for optimal longitudinal motion during curve following

Veh. System Dynamics, 1996, 26, 301–320.

Hattori

Koibuchi

Yokoyama

Force and moment control with nonlinear optimum distribution for vehicle dynamics. In Proceedings of AVEC'02, Hiroshima, Japan, 2002, pp. 595–600.

Mokhiamar

Abe

Effects of an optimum cooperative chassis control from the view points of tyre workload. In Proceedings of JSAE Spring Convention, Yokohama, Japan, 2003, Vol. 33, pp. 15–20.

10.

Mokhiamar

Abe

Active wheel steering and yaw moment control combination to maximize stability as well as vehicle responsiveness during quick lane change for active vehicle handling safety

Proc. Instn Mech. Engrs, Part D: J. Automobile Engineering, 2002, 216 (D2), 115–123.

11.

Ellis

J. R.

Vehicle Dynamics, 1969 (London Business Book Limited, London).

12.

Slotine

J.-J. E.

Applied Nonlinear Control, 1991 (Prentice-Hall, Englewood Cliffs, New Jersey).

13.

Abe

Kato

Suzuki

Kano

Estimation of vehicle side-slip angle for DYC by using on-board-tyre model. In Proceedings of AVEC'98, Nagoya, Japan, 1998, pp. 437–442.

14.

Singiresu

S. R.

Engineering Optimization, 1996 (John Wiley, New York).

15.

Yamazaki

Furukawa

Suzuki

Study on real time estimation of tyre road friction

Veh. System Dynamics Suppl., 1997, 27, 225–233.