Lateral stability control of vehicles based on the calculation and allocation of component forces

Abstract

A vehicle lateral stability control method for real-time calculation and dynamic allocation of the longitudinal force and yaw moment of vehicle tyres is proposed. The achievable range of the longitudinal force and yaw moment of the tyre are calculated in real time through off-line numerical optimisation and nonlinear programming. The calculated values are then adjusted to within the available range and allocated dynamically. A controller for the slip rate and front wheel slip angle is used to ensure that the tyre friction can trace each component force. The proposed method avoids estimating the lateral force of vehicle rear wheels while ensuring accuracy. The results of simulations and driver-in-loop tests demonstrated that the proposed method can improve the track-holding ability while reducing the influence of a road surface with a low adhesion coefficient on vehicle stability. The method ensures high and dynamic tracking performance and lateral stability.