To improve safety on commercial cars, a multivariable Global Chassis Controller (GCC) design, involving braking and steering systems is proposed. In case of emergency (e.g. loss of manoeuvrability), the GCC uses the braking system to handle the problem. But, in case of inefficiency of the braking system (e.g. due to low road adherence, large yaw rate error or actuator failure), detected by a braking efficiency measure, the proposed integrated controller activates the front steering system to handle the unlike vehicle dynamic. The proposed control structure is developed in the Linear Parameter Varying (LPV) H∞ framework.
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