Integrated Vehicle Control Based on Tire Force Reserve Optimization Concept

Abstract

Integrated vehicle control (IVC) (also known as Integrated Chassis Control (ICC)) is a key technology for vehicle active safety. The basic concept of IVC is to allocate chassis actuations coherently to control vehicle dynamics in longitudinal and lateral directions simultaneously. Even when only the four brake inputs are considered, the IVC problem is over-determinant. In other words, it must be solved as an optimization problem. In this paper, the optimization goal is to achieve best “tire force reserve”, defined as the difference between the tire force capacity and the resultant tire force. This optimization formulation achieves uniform utilization of tire forces and thus better robustness against normal force and road roughness disturbances. Simulation results are presented to demonstrate the basic idea of this approach.