Abstract
In this work vehicle stability enhancement is studied. In this regard a new method of optimal distribution of tire forces considering the standard stability conditions of the phase-plane, for coordinating steering, braking and driveline subsystems in an integrated vehicle dynamics control scheme, is established. The presented scheme aims to fulfill the objectives of a higher-level controller, operating to stabilize the plane motion of the vehicle dynamics as much as possible, preventing the vehicle states exit the stable region. So in normal situations handling and in severe conditions stability is prioritized by this method. An optimization problem incorporating inequality constraints is solved analytically by Karush- Kuhn-Tucker (KKT) condition theory. Due to the analytical solution a real-time implementation can be realized on a vehicle with low-cost hardware. The simulation cases show that the vehicle stability can be improved effectively in extreme conditions by the suggested scheme.
Keywords: Vehicle Stability Control, Optimal Tire Force Distribution, Phase Plane Stability Constraint