An Optimizing Scheme To achieve Maximum Handling With Guaranteed Vehicle Dynamics Stability

In this work the problem of how to achieve the maximum handling without destabilizing the lateral dynamics in the ground vehicle is addressed based on the optimization technique. To guarantee the vehicle dynamic stability, in a novel approach, the standard stability constarints of the phase-plane have been incorporated into the optimal distribution of tire forces. A predicting model has been established to set the stability conditions as inequality constraints on the control system inputs, i.e. individual tire forces. The introduced scheme aims to fulfill the objective of a high-level controller, the vehicle handling, as much as possible without letting the vehicle dynamics state exit the stable region. To this end, an optimization problem incorporating inequality constraints is defined and solved analytically by Karush-Kuhn-Tucker (KKT) criterion. The simulation cases show that the vehicle control performance can be improved effectively in critical maneuvers by the suggested scheme, when compared to the previous works.