A comparison of alternative strategies for optimal utilisation of tyre friction forces aimed at vehicle lateral-plane motion control

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A comparison of alternative strategies for optimal utilisation of tyre friction forces aimed at vehicle lateral-plane motion control

Ahmadi, Javad / Khaki-Sedigh, Ali

In this paper, three strategies are analysed and compared for optimal determination of tyre friction forces used for vehicle lateral-plane motion control. The valueability of this determination depends on the feasibility of the solution of a real-time optimisation problem. In strategy (III), the optimisation problem is relaxed from the equality constraints (enforced in strategies (I) and (II)) posed owing to the stabilisation and tracking objectives of the closed loop and instead these objectives are included in the cost function of the optimisation problem. In this way, the problem of the existence of feasible solution encountered in strategy (II) is remedied without infringing the saturation restrictions imposed by the limited physical capability of the tyres and actuators in developing tyre friction forces, which was overlooked in strategy (I). Detailed simulation studies show convincing performance that can be achieved with strategy (III) in physical entire range of operation including mild, moderate and severe manoeuvre conditions.