A Vehicle Lateral Motion Control Based on Tire Cornering Stiffness Estimation Using In-Wheel Motors

Abstract

In this paper, a study on vehicle lateral motion control using an in-wheel motor (IWM) based on tire cornering stiffness estimation is presented. The main purpose of this paper is to develop a lateral motion control that can be implemented considering practical issues in real-world vehicle applications such as driver comfort, high availability, and stable control accuracy. The proposed lateral motion controller for yaw rate tracking is intended to improve vehicle cornering agility. In this paper, we develop a model-based controller with a feedforward control term to accomplish this. In particular, a change in tire cornering stiffness according to the size of the tire slip angle is reflected to improve control accuracy. Finally, the Weighted Least Square (WLS) allocation method optimally distributes the IWM torque to each wheel. Simulation studies confirm that some evaluation factors are improved in terms of cornering performance compared to conventional control algorithms.