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.


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    Title :

    Performance improvement with active control of steering angles and wheel torques during a combined braking and steering maneuver


    Additional title:

    Leistungsverbesserung durch Aktivregelung der Lenkwinkel und Lenkraddrehmomente bei einer Kombination von Lenken und Bremsen


    Contributors:


    Publication date :

    1993


    Size :

    11 Seiten, 12 Bilder, 15 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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    Venkataraman, S. C. / Waldron, K. J. / American Society of Mechanical Engineers; Dynamic Systems and Control Division et al. | British Library Conference Proceedings | 1993


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