Abstract
As more actuators are implemented, vehicles are becoming over-actuated and obtaining more authority to control individual tire forces. This paper presents a method that utilizes this abundant actuating capability to allocate tire forces optimally with a convex optimization formulation. The basic objective of this optimal allocation is to keep the usage of total tire friction capability equal over the four wheels. Achieving this goal has the advantage of preventing some tires from reaching saturation before other tires do. This algorithm for optimal tire force allocation can be combined with trajectory tracking near the limits of handling to follow the desired speed, heading, and lateral position of a vehicle. Experimental results demonstrate the performance of the method for successful tracking of all three desired trajectory states simultaneously while achieving equal friction usage among the tires.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
