SYSTEMS AND METHOD FOR HOLISTIC VEHICLE CONTROL WITH COLLABORATIVE STEERING, ELECTRONIC SLIP LIMIT DIFFERENTIAL (ELSD), DRIVE AND BRAKES

摘要

A method and system for controlling a vehicle to improve vehicle dynamics is provided. The method includes receiving data from a plurality of sensors that monitor vehicle dynamics by monitoring at least wheel and steering movements associated with a vehicle system used to control vehicle dynamics through control outputs from a holistic vehicle control system. Then, estimating the states of the vehicle based on calculations of longitudinal and lateral speeds, tire slip ratios, clutch torque, axle torque, brake torque, and slip angles derived from the data collected by the sensors from the wheel and / or steering motions. Finally, formulating a model of vehicle dynamics using estimates of vehicle states having an objective function to provide analysis data to optimize the model of vehicle dynamics and to use the data associated with the model optimized to change the control outputs to vehicle dynamics improve in real time.