Integrated control of active steering and braking systems with tyre forces and cornering stiffness estimation

Abstract

A model-based integrated controller for active steering and active braking systems is proposed to enhance vehicle handling and stability. A hierarchical scheme is adopted, including vehicle layer based on model predictive control (MPC), actuator layer, and observer layer. The MPC controller adopts a predictive model with the lateral force of front axle and yaw moment as inputs, which leaves the nonlinearity and coupling of tyre forces to be solved by the tyre force allocation algorithm in actuator layer, leading to more precise control action. In order to maintain satisfactory control performance with respect to the variation of tyre character, a dual extended Kalman filter (DEKF) is designed in the observer layer to estimate tyre forces and cornering stiffness. The observed results are used to reduce the mismatch of the reference models in vehicle layer and actuator layer. The effectiveness of the proposed controller is demonstrated by simulations in CarSim environment.