Road friction effect on the optimal vehicle control strategy in two critical manoeuvres
2014 (English)In: International Journal of Vehicle Safety, ISSN 1479-3105, Vol. 7, no 2, 107-130 p.Article in journal (Refereed) Published
This paper presents results on how to optimally negotiate two safety-critical vehicle manoeuvres depending on available actuators and road friction level. The motive for this research has been to provide viable knowledge of limitations of vehicle capability under the presence of environmental preview sensors, such as radar, camera and navigation. An optimal path is in this paper found by optimising the sequence of actuator requests during the two manoeuvres. Particular interest is paid on how the vehicle control strategy depends on friction. This work shows that actuation of forces and torques on and around the vehicle centre of gravity are all approximately scaled with the friction coefficient. However, this pattern is not valid at a wheel individual level, i.e. the optimal force allocation among the wheels differs under different friction conditions. One key is that lower friction level yields lower load transfer which substantially influences the wheel individual tyre force constraints.
Place, publisher, year, edition, pages
2014. Vol. 7, no 2, 107-130 p.
Vehicle Control; Actuator; Integrated Motion Control; Road Friction; Optimisation
IdentifiersURN: urn:nbn:se:kth:diva-48965DOI: 10.1504/IJVS.2014.060145ScopusID: 2-s2.0-84897470574OAI: oai:DiVA.org:kth-48965DiVA: diva2:458988
Updated from "Submitted" to "Published" QC 201411142011-11-242011-11-242014-11-14Bibliographically approved