A four-wheel steered vehicle is considered in which the steering angles and the braking torques at the wheels are assumed to be actively actuated. The driver's steering and braking inputs are interpreted to yield commanded vehicle states during a combined braking and steering maneuver. The front and rear steering angles are coordinated to keep the body side-slip angle near zero. The braking forces are coordinated to equalize and hence minimize the force ratios at the inner and outer wheels while ensuring that they provide a net zero yaw moment. A control law based on a linearised vehicle model is developed which augments the steering and braking inputs to enhance handling performance.
Performance improvement with active control of steering angles and wheel torques during a combined braking and steering maneuver
Leistungsverbesserung durch Aktivregelung der Lenkwinkel und Lenkraddrehmomente bei einer Kombination von Lenken und Bremsen
1993
11 Seiten, 12 Bilder, 15 Quellen
Aufsatz (Konferenz)
Englisch
British Library Conference Proceedings | 1993
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