In this paper a novel vehicle lateral dynamic control approach is presented. A differential braking control law based on vehicle planar motion has been designed using a two-degrees-of-freedom vehicle model. On the basis of the estimate of tire longitudinal forces we estimate the range of lateral forces which the tire can exert. Using this constraints a model predictive control (MPC) based on a two-track model is designed in order to stabilize the vehicle. The performances are estimated comparing the results with standard manoeuvers. Simulation results show the benefits of the control methodology used: in particular we show how very effective distribution of braking torque are obtained as a result of this feedback policy.
|Titolo:||Dynamically Constrained Differential Braking for Yaw Rate Control and Side Slip Control|
|Data di pubblicazione:||2009|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|