154 Traction/Braking Force Distribution and Active Front Steering Integrated for D^* Control
DOI: 10.1299/jsmedmc.2003._154-1_
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Summary
This paper addresses the enhancement of vehicle handling stability and driveability by integrating traction/braking force distribution with active front steering. The research focuses on Steer-By-Wire (SBW) vehicles, aiming to improve performance in nonlinear regions where tire lateral forces saturate, such as during high-speed cornering or on slippery surfaces. The motivation is to utilize Direct Yaw Moment Control (DYC) to generate yaw moments through differential braking and driving forces, thereby attenuating fluctuations in the sideslip angle and ensuring the vehicle follows a desired dynamic response model. The methodology involves designing a model-following controller that combines active front steering with DYC. The active steering system determines the target front wheel angle based on driver input, while the DYC system generates additional yaw moments to minimize the time derivative of the sideslip angle. To determine the optimal distribution of traction and braking forces, two objective functions are defined: minimizing the sum of squares of tire loads and minimizing the maximum tire load. These distributions are derived as simple algebraic expressions. The study validates these control strategies through detailed numerical simulations using the CarSim vehicle model, which features a 27-degree-of-freedom model and nonlinear tire characteristics. A curvature-command driver model is employed to provide steering inputs based on trajectory curvature, allowing for the comparison of the integrated control system against a baseline model-following D* control system without DYC. The results demonstrate that the integration of traction/braking force distribution with active front steering effectively suppresses variations in the sideslip angle. Simulations under various conditions, including circular turns, lane changes, and crosswind disturbances, confirm that the proposed control strategy improves the vehicle's ability to follow the target trajectory. The use of DYC ensures that the vehicle maintains stable driving behavior without losing tire grip, even when operating near the limits of tire friction. The algebraic expressions for force distribution allow for efficient real-time implementation, ensuring that the combined longitudinal and lateral forces remain within the friction circle. The significance of this work lies in its contribution to the development of advanced vehicle stability control systems for SBW vehicles. By integrating yaw moment control with active steering, the study provides a robust method for enhancing handling stability in critical driving scenarios. The findings suggest that such integrated control can significantly improve safety and driveability by maintaining vehicle stability and trajectory tracking accuracy under challenging conditions. This approach offers a practical solution for optimizing vehicle dynamics control, leveraging the capabilities of SBW systems to achieve superior performance compared to traditional control methods.
Key finding
Integrating traction/braking force distribution for direct yaw moment control with active front steering effectively reduces sideslip angle fluctuations and improves vehicle trajectory tracking stability.
Methodology
simulation_modeling
Provenance
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| Stage | Outcome | Tool | Model | Prompt | Attempts | Completed |
|---|---|---|---|---|---|---|
| discover | success | author_sweep | — | — | 2 | 2026-05-28 |
| archive | success | canonical_url | — | — | 1 | 2026-06-04 |
| extract | success | cached | — | — | 3 | 2026-06-10 |
| clean | success | clean | — | — | 1 | 2026-06-04 |
| chunk | success | chunk | — | — | 1 | 2026-06-04 |
| embed | success | embed | Qwen/Qwen3-Embedding-8B | — | 1 | 2026-06-04 |
| enrich | success | — | — | — | 1 | 2026-05-28 |
| promote | success | — | — | — | 1 | 2026-06-04 |
| summarize | success | llm | qwen3.6-27b-prismaquant | summ-v5 | 2 | 2026-06-10 |
| tag | success | vector_similarity | — | — | 15 | 2026-06-11 |
| verify | success | — | — | — | 2 | 2026-06-10 |
Summary generated by qwen3.6-27b-prismaquant on 2026-06-10; verification: verified.
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