The advantages of including the suspension roll dynamics to the design of vehicle lateral controller have been addressed in the previous research. A 3 degree-of-freedom (DOF) vehicle model was developed to describe the lateral, yaw, and roll dynamics. One technique to decouple the roll and yaw motions from the lateral dynamics is to use the dynamic look-ahead scheme. The response from the steering input to the lateral acceleration at the dynamic look-ahead distance becomes a constant gain, which is independent of the vehicle speed. Such characteristics is useful for the steering controller design since a velocity-invariant controller can be developed to apply over a wide range of vehicle speeds. The simulation results indicated that this steering controller may be free from gain-scheduling and interpolation between fixed vehicle speeds.
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