Integrated lateral dynamics control concept for over-actuated vehicles with state and parameter estimation and experimental validation

Abstract

In order to improve the driving dynamics and the driving safety, the car manufacturers have introduced several systems like active front and rear steering, torque vectoring or braking systems. This work presents an integrated lateral dynamics control concept for a over-actuated vehicle. The system incorporates only sensors and actuators available in current series production cars. The driver’s commands are translated by a trajectory generation module, which calculates the desired lateral vehicle dynamics. A kinematic feedforward and a stabilizing feedback controller provide the desired vehicle motion, which is realized by an optimization-based model inversion algorithm using a nonlinear two-track model including all relevant driving dynamics effects. The convex optimization problem, taking also input constraints into account, can be solved in real-time. The non-measured states and additional parameters as the friction coefficient or the road inclination and bank angles are accurately estimated using a second order divided difference Kalman filter. Experimental validation results of a fully equipped test vehicle are provided, which show the excellent performance of the proposed control concept up to the adhesion limit of the tires on several road conditions.