On global chassis control; combined braking and cornering, and yaw rate control

摘要

We investigate the vehicle dynamics problem consisting of the multivariable regulation of the longitudinal velocity as well as the yaw rate. The control variables are supposed to be the vertical forces acting on the wheels from the suspension system, and also, the engine/brake torques. The control strategy consists of two main points. First we decouple the 2D motion from the 3D motion by means of the vertical forces. Next we use quite standard nonlinear control laws stemming from works of Leitmann on uncertain systems. The vehicle dynamics problem addressed and the overall control strategy are quite new in the literature. The reference trajectories are designed to reflect usual driver commands and desirable vehicle dynamics. The control performance is illustrated through simulations on a quite accurate model.