An Integrated Control of Differential Braking, Front/Rear Traction, and Active Roll Moment for Limit Handling Performance

Abstract

This paper describes an integrated chassis control (ICC) algorithm of differential braking, front/rear traction torque, and active roll moment control. The integrated control algorithm is designed to maximize driving velocity and enhance vehicle lateral stability in cornering. The target longitudinal acceleration is determined based on the driver's intention and vehicle current status to ensure vehicle lateral stability in high-speed maneuvering. An optimization-based control allocation strategy is used to distribute the actuator control inputs optimally under consideration of tire 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 ICC has been compared with those of individual chassis control systems, such as electronic stability control, four-wheel drive (4WD), and active roll control system. The simulation results show that the proposed ICC algorithm improves the performance in high-speed cornering with respect to driving speed without losing stability, compared with individual chassis control systems.