Development of an optimal driver command interpreter for vehicle dynamics control

Abstract

This paper introduces a new driver command interpreter (DCI) for vehicle dynamics control, providing optimal calculation of desired CG forces and moments based on driver inputs and road conditions. The proposed DCI is established based on principles of optimal linear quadratic regulator (LQR) theory and vehicle dynamics. The optimal feed-forward and feedback gains of proposed DCI can be updated in real time by online matrix calculation. Analytical simulations and experimental test results under various driving conditions are presented to evaluate the proposed DCI and vehicle dynamics control system. The simulation and experimental results indicate that the vehicle dynamics control system using the proposed DCI can effectively stabilise the vehicle motion and improve the vehicle handling under critical driving conditions.