An investigation into unified chassis control for agility, maneuverability and lateral stability

Abstract

This paper propose a unified chassis control (UCC) strategy to improve agility, maneuverability and, vehicle lateral stability by the integration of active front steering (AFS) and electronic stability control (ESC). The proposed UCC system consists of a supervisor, a control algorithm, and a coordinator. The supervisor determines a target yaw rate and a target velocity. To achieve a target yaw rate and velocity, the control algorithm determines a desired yaw moment and a desired longitudinal force, respectively. The desired yaw moment and the desired longitudinal force can be generated by the coordination of the AFS and ESC systems. To consider a performance limit of the ESC system and tires, the coordination is designed using the optimal method. Closed loop simulations with a driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy using CarSim vehicle dynamics software and the UCC controller coded using Maltab/Simulink.