Vehicle dynamic stability improvements through gain-scheduled steering and braking control

Integrated vehicle dynamics control via coordination of active front steering and rear braking

“…The present work is an extension of the preliminary results obtained by the same authors in previous papers [32,33,13]. The brought contributions include a better interpretation of the lateral vehicle dynamics behavior and of the braking torque distribution, as well as the development of a new LPV strategy of steering/braking actuators collaboration.…”

“…The behavior of the vehicle with the proposed control scheme has been evaluated subject to various driving situations, using simulations through time-domain and frequency-domain analysis on a full nonlinear vehicle model presented in [33] . The obtained results confirm the effectiveness of the proposed integrated control.…”

“…Concerning the lateral behavior, different actuators configuration have been considered using front/rear steering and braking torque distribution (front/rear, differential braking) [22,20,11,39,43,44,33] but also more recently with differential tire slip [26] if electrical in-wheel-motors are considered. Advanced control methods have then been developed to solve this complex control problem for a MIMO system, such as optimal control [44], control allocation [43,39], Model Predictive Control [11], and robust control [22,20].…”

“…• Activation of steering control in a frequency band where the driver cannot act (driver comfort as in [33]). …”

“…Indeed in [32] the braking system acts first when dangerous situation is detected, and if it is not efficient enough to stabilize the vehicle, then, by monitoring the braking torque efficiency, the steering system is activated to handle the dynamical problem . In [13,33], the LPV approach is used to coordinate 3 control inputs, i.e. the rear-(left and right) braking torques and the additive steering angle, through 2 high level parameters.…”