Improvement in Safety and Comfort by Active Four Wheel Steering - Improvement in Critical Performance by Optimal Distribution of Four Wheel Tire Forces

摘要

In this paper, vehicle dynamics integrated control algorithm which controls 3 axis tire forces (lateral, longitudinal and vertical forces) of four wheels is proposed. The proposed algorithm minimizes μ rate (=tire force/friction circle) of each wheel with constraint for satisfying desired vehicle resultant force and moment using an on-line nonlinear optimization method. This implies that theoretical limited performance of vehicle dynamics integrated control is clarified.