Abstract
Keywords - Integrated Vehicle Dynamics Controls, Yaw Stability Control, Control Allocation, Active System Coordination, Smart Actuators
The article presents a control concept to coordinate multiple active systems for improved vehicle dynamics. The concept emphasises stability control with respect to the vehicle yaw motion. The considered active systems are active front steering, active limited slip differential at the driven rear axle and active brakes. The control concept allows for a flexible introduction of additional systems. A centralised controller determines a global yaw torque request to correct the vehicle yaw motion. An allocation algorithm is implemented to distribute the global yaw torque request to the available actuators. The torque allocation is based on a simplified optimisation problem solved by the Moore-Penrose pseudoinverse. The systems potential to generate additional yaw torque has been analysed and is significant for the allocation. An inversion of the analysis results is used to estimate the required actuator interventions. The control concept does not rely on traditional rule based logic like ESP. The pseudoinverse solution pushes potential actuators. Anyway, weaker actuators could also be enforced by either limiting the potential of stronger actuators or by temporarily excluding them. NHTSA´s sine with dwell manoeuvre has been simulated to analyse the combinations of the different systems. The simulation results present the influence of the active systems and their combinations on the vehicle states and the determined actuator interventions.