Abstract
A coordinated control of front/rear traction, four-wheel independent braking, and an active roll control system is proposed in this paper to improve overall vehicle cornering performance. The control algorithm is structured in a hierarchical form: the supervisory controller is used to calculate the desired yaw rate and roll angle based on the driver input and vehicle states; the upper-level controller is utilized to decide the target longitudinal tire forces, yaw moment, and anti-roll moment based on the sliding mode control method; and the control allocator is used to optimally map the virtual control input to the control commands of specific actuators. Co-simulations of MATLAB/Simulink and CarSim were conducted to verify the performance enhancement of the proposed controller. The results suggest that the proposed controller can effectively enhance the driving performance in limit cornering while maintaining lateral stability, and it reduces tire usage, as indicated by the index of tire dissipation energy when compared to control methods such as AWD, AWD-ESC, and ICC.
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