Abstract
Keywords - Generic Vehicle Motion Control, Force Distribution, Restrictor, Control Architecture, Chassis Configuration
Abstract - In the last decades, more and more control algorithms are added to vehicles in order to improve their behaviour, especially under critical situations. It is also likely that future vehicles will carry an increasing amount of electricity which opens up for more actuators that together with x-by-wire technology result in a wider span of possible chassis configurations than seen today. In this paper, a generic vehicle motion control architecture is suggested and evaluated on three various chassis configurations. By introducing a concept called restrictors, the architecture is able to handle vehicles of today with mechanical front wheel steer and two wheel drive to future scenarios where each wheel can be steered and driven individually.